#include <hinted_stick_finder.h>

Inheritance diagram for jsk_pcl_ros::HintedStickFinder:

Public Types
typedef message_filters::sync_policies::ApproximateTime< geometry_msgs::PolygonStamped, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2 >	ASyncPolicy

typedef HintedStickFinderConfig	Config

Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Public Member Functions
	HintedStickFinder ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
virtual void	cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
	Non synchronized message callback for ~input pointcloud. More...

virtual void	configCallback (Config &config, uint32_t level)

virtual void	detect (const geometry_msgs::PolygonStamped::ConstPtr &polygon_msg, const sensor_msgs::CameraInfo::ConstPtr &camera_info_msg, const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
	Synchronized message callback. More...

virtual void	filterPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const jsk_recognition_utils::ConvexPolygon::Ptr polygon, pcl::PointIndices &output_indices)

virtual void	fittingCylinder (const pcl::PointCloud< pcl::PointXYZ >::Ptr &filtered_cloud, const pcl::PointCloud< pcl::Normal >::Ptr &cloud_nromals, const Eigen::Vector3f &a, const Eigen::Vector3f &b)

virtual void	hintCallback (const geometry_msgs::PolygonStamped::ConstPtr &hint_msg)
	Non synchronized message callback for ~input/hint/line. More...

virtual void	infoCallback (const sensor_msgs::CameraInfo::ConstPtr &info_msg)
	Non synchronized message callback for ~input/camera_info. More...

virtual void	normalEstimate (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::PointIndices::Ptr indices, pcl::PointCloud< pcl::Normal > &normals, pcl::PointCloud< pcl::PointXYZ > &normals_cloud)

virtual void	onInit ()

virtual jsk_recognition_utils::ConvexPolygon::Ptr	polygonFromLine (const geometry_msgs::PolygonStamped::ConstPtr &polygon_msg, const image_geometry::PinholeCameraModel &model, Eigen::Vector3f &a, Eigen::Vector3f &b)

virtual bool	rejected2DHint (const jsk_recognition_utils::Cylinder::Ptr &cylinder, const Eigen::Vector3f &a, const Eigen::Vector3f &b)
	Check direction of cylinder in 2-D image coordinate system and if it is larger than eps_2d_angle_, return false. More...

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
int	cylinder_fitting_trial_

double	eps_2d_angle_

double	eps_angle_

double	filter_distance_

sensor_msgs::CameraInfo::ConstPtr	latest_camera_info_

geometry_msgs::PolygonStamped::ConstPtr	latest_hint_

int	max_iteration_

double	max_radius_

int	min_inliers_

double	min_probability_

double	min_radius_

boost::mutex	mutex_

bool	not_synchronize_
	Run in continuous mode. continuous mode means this nodelet does not synchronize hint and input messages but keep processing with old hint information. More...

double	outlier_threshold_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_cylinder_marker_

ros::Publisher	pub_cylinder_pose_

ros::Publisher	pub_inliers_

ros::Publisher	pub_line_filtered_indices_

ros::Publisher	pub_line_filtered_normal_

boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< sensor_msgs::CameraInfo >	sub_info_

ros::Subscriber	sub_no_sync_camera_info_

ros::Subscriber	sub_no_sync_cloud_

ros::Subscriber	sub_no_sync_polygon_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_normal_

message_filters::Subscriber< geometry_msgs::PolygonStamped >	sub_polygon_

boost::shared_ptr< message_filters::Synchronizer< ASyncPolicy > >	sync_

bool	use_normal_
	True if use ~input has normal fields. More...

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Detailed Description

Definition at line 59 of file hinted_stick_finder.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< geometry_msgs::PolygonStamped, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2> jsk_pcl_ros::HintedStickFinder::ASyncPolicy

Definition at line 65 of file hinted_stick_finder.h.

typedef HintedStickFinderConfig jsk_pcl_ros::HintedStickFinder::Config

Definition at line 66 of file hinted_stick_finder.h.

Constructor & Destructor Documentation

jsk_pcl_ros::HintedStickFinder::HintedStickFinder ( )

inline

Definition at line 67 of file hinted_stick_finder.h.

Member Function Documentation

void jsk_pcl_ros::HintedStickFinder::cloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & cloud_msg )

protectedvirtual

Non synchronized message callback for ~input pointcloud.

Definition at line 96 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 353 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::detect	(	const geometry_msgs::PolygonStamped::ConstPtr &	polygon_msg,
		const sensor_msgs::CameraInfo::ConstPtr &	camera_info_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg
	)

protectedvirtual

Synchronized message callback.

Definition at line 140 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::filterPointCloud	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const jsk_recognition_utils::ConvexPolygon::Ptr	polygon,
		pcl::PointIndices &	output_indices
	)

protectedvirtual

Definition at line 304 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::fittingCylinder	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	filtered_cloud,
		const pcl::PointCloud< pcl::Normal >::Ptr &	cloud_nromals,
		const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)

protectedvirtual

Definition at line 223 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::hintCallback ( const geometry_msgs::PolygonStamped::ConstPtr & hint_msg )

protectedvirtual

Non synchronized message callback for ~input/hint/line.

Definition at line 111 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::infoCallback ( const sensor_msgs::CameraInfo::ConstPtr & info_msg )

protectedvirtual

Non synchronized message callback for ~input/camera_info.

Definition at line 118 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::normalEstimate	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::PointIndices::Ptr	indices,
		pcl::PointCloud< pcl::Normal > &	normals,
		pcl::PointCloud< pcl::PointXYZ > &	normals_cloud
	)

protectedvirtual

Definition at line 187 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 49 of file hinted_stick_finder_nodelet.cpp.

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::HintedStickFinder::polygonFromLine	(	const geometry_msgs::PolygonStamped::ConstPtr &	polygon_msg,
		const image_geometry::PinholeCameraModel &	model,
		Eigen::Vector3f &	a,
		Eigen::Vector3f &	b
	)

protectedvirtual

Definition at line 327 of file hinted_stick_finder_nodelet.cpp.

bool jsk_pcl_ros::HintedStickFinder::rejected2DHint	(	const jsk_recognition_utils::Cylinder::Ptr &	cylinder,
		const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)

protectedvirtual

Check direction of cylinder in 2-D image coordinate system and if it is larger than eps_2d_angle_, return false.

Parameters

cylinder	Cylinder object
a	3-D ray to start point of 2-D line
b	3-D ray to end point of 2-D line

Definition at line 207 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 74 of file hinted_stick_finder_nodelet.cpp.

void jsk_pcl_ros::HintedStickFinder::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 126 of file hinted_stick_finder_nodelet.cpp.

Member Data Documentation

int jsk_pcl_ros::HintedStickFinder::cylinder_fitting_trial_

protected

Definition at line 163 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::eps_2d_angle_

protected

Definition at line 165 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::eps_angle_

protected

Definition at line 161 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::filter_distance_

protected

Definition at line 158 of file hinted_stick_finder.h.

sensor_msgs::CameraInfo::ConstPtr jsk_pcl_ros::HintedStickFinder::latest_camera_info_

protected

Definition at line 178 of file hinted_stick_finder.h.

geometry_msgs::PolygonStamped::ConstPtr jsk_pcl_ros::HintedStickFinder::latest_hint_

protected

Definition at line 179 of file hinted_stick_finder.h.

int jsk_pcl_ros::HintedStickFinder::max_iteration_

protected

Definition at line 160 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::max_radius_

protected

Definition at line 156 of file hinted_stick_finder.h.

int jsk_pcl_ros::HintedStickFinder::min_inliers_

protected

Definition at line 164 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::min_probability_

protected

Definition at line 162 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::min_radius_

protected

Definition at line 157 of file hinted_stick_finder.h.

boost::mutex jsk_pcl_ros::HintedStickFinder::mutex_

protected

Definition at line 136 of file hinted_stick_finder.h.

bool jsk_pcl_ros::HintedStickFinder::not_synchronize_

protected

Run in continuous mode. continuous mode means this nodelet does not synchronize hint and input messages but keep processing with old hint information.

Definition at line 176 of file hinted_stick_finder.h.

double jsk_pcl_ros::HintedStickFinder::outlier_threshold_

protected

Definition at line 159 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_coefficients_

protected

Definition at line 149 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_cylinder_marker_

protected

Definition at line 146 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_cylinder_pose_

protected

Definition at line 147 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_inliers_

protected

Definition at line 148 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_line_filtered_indices_

protected

Definition at line 144 of file hinted_stick_finder.h.

ros::Publisher jsk_pcl_ros::HintedStickFinder::pub_line_filtered_normal_

protected

Definition at line 145 of file hinted_stick_finder.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::HintedStickFinder::srv_

protected

Definition at line 154 of file hinted_stick_finder.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HintedStickFinder::sub_cloud_

protected

Definition at line 140 of file hinted_stick_finder.h.

message_filters::Subscriber<sensor_msgs::CameraInfo> jsk_pcl_ros::HintedStickFinder::sub_info_

protected

Definition at line 139 of file hinted_stick_finder.h.

ros::Subscriber jsk_pcl_ros::HintedStickFinder::sub_no_sync_camera_info_

protected

Definition at line 152 of file hinted_stick_finder.h.

ros::Subscriber jsk_pcl_ros::HintedStickFinder::sub_no_sync_cloud_

protected

Definition at line 151 of file hinted_stick_finder.h.

ros::Subscriber jsk_pcl_ros::HintedStickFinder::sub_no_sync_polygon_

protected

Definition at line 153 of file hinted_stick_finder.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HintedStickFinder::sub_normal_

protected

Definition at line 141 of file hinted_stick_finder.h.

message_filters::Subscriber<geometry_msgs::PolygonStamped> jsk_pcl_ros::HintedStickFinder::sub_polygon_

protected

Definition at line 138 of file hinted_stick_finder.h.

boost::shared_ptr<message_filters::Synchronizer<ASyncPolicy> > jsk_pcl_ros::HintedStickFinder::sync_

protected

Definition at line 142 of file hinted_stick_finder.h.

bool jsk_pcl_ros::HintedStickFinder::use_normal_

protected

True if use ~input has normal fields.

Definition at line 170 of file hinted_stick_finder.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation