#include <incremental_model_registration.h>

Inheritance diagram for jsk_pcl_ros::IncrementalModelRegistration:

Public Types
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, pcl_msgs::PointIndices, geometry_msgs::PoseStamped >	SyncPolicy

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

Public Member Functions
	IncrementalModelRegistration ()

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	callICP (pcl::PointCloud< pcl::PointXYZRGB >::Ptr reference, pcl::PointCloud< pcl::PointXYZRGB >::Ptr target, Eigen::Affine3f &output_transform)

virtual void	newsampleCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const pcl_msgs::PointIndices::ConstPtr &indices_msg, const geometry_msgs::PoseStamped::ConstPtr &pose_msg)

virtual void	onInit ()

virtual bool	startRegistration (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

virtual void	subscribe ()

virtual void	transformPointCloudRepsectedToPose (pcl::PointCloud< pcl::PointXYZRGB >::Ptr input, pcl::PointCloud< pcl::PointXYZRGB >::Ptr output, const geometry_msgs::PoseStamped::ConstPtr &pose_msg)

virtual void	unsubscribe ()

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
pcl::PointCloud< pcl::PointXYZRGB >	all_cloud_

std::string	frame_id_

boost::mutex	mutex_

Eigen::Affine3f	origin_

ros::Publisher	pub_cloud_non_registered_

ros::Publisher	pub_registered_

std::vector< CapturedSamplePointCloud::Ptr >	samples_

ros::ServiceServer	start_registration_srv_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< pcl_msgs::PointIndices >	sub_indices_

message_filters::Subscriber< geometry_msgs::PoseStamped >	sub_pose_

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

boost::shared_ptr< pcl::visualization::PCLVisualizer >	viewer_

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 76 of file incremental_model_registration.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, pcl_msgs::PointIndices, geometry_msgs::PoseStamped > jsk_pcl_ros::IncrementalModelRegistration::SyncPolicy

Definition at line 83 of file incremental_model_registration.h.

Constructor & Destructor Documentation

jsk_pcl_ros::IncrementalModelRegistration::IncrementalModelRegistration ( )

inline

Definition at line 79 of file incremental_model_registration.h.

Member Function Documentation

void jsk_pcl_ros::IncrementalModelRegistration::callICP	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	reference,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	target,
		Eigen::Affine3f &	output_transform
	)

protectedvirtual

Definition at line 174 of file incremental_model_registration_nodelet.cpp.

void jsk_pcl_ros::IncrementalModelRegistration::newsampleCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const pcl_msgs::PointIndices::ConstPtr &	indices_msg,
		const geometry_msgs::PoseStamped::ConstPtr &	pose_msg
	)

protectedvirtual

Definition at line 130 of file incremental_model_registration_nodelet.cpp.

void jsk_pcl_ros::IncrementalModelRegistration::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 93 of file incremental_model_registration_nodelet.cpp.

bool jsk_pcl_ros::IncrementalModelRegistration::startRegistration	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protectedvirtual

Definition at line 195 of file incremental_model_registration_nodelet.cpp.

virtual void jsk_pcl_ros::IncrementalModelRegistration::subscribe ( )

inlineprotectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 89 of file incremental_model_registration.h.

void jsk_pcl_ros::IncrementalModelRegistration::transformPointCloudRepsectedToPose	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	input,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	output,
		const geometry_msgs::PoseStamped::ConstPtr &	pose_msg
	)

protectedvirtual

Definition at line 117 of file incremental_model_registration_nodelet.cpp.

virtual void jsk_pcl_ros::IncrementalModelRegistration::unsubscribe ( )

inlineprotectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 90 of file incremental_model_registration.h.

virtual void jsk_pcl_ros::IncrementalModelRegistration::updateDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inlineprotectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 91 of file incremental_model_registration.h.

Member Data Documentation

pcl::PointCloud<pcl::PointXYZRGB> jsk_pcl_ros::IncrementalModelRegistration::all_cloud_

protected

Definition at line 126 of file incremental_model_registration.h.

std::string jsk_pcl_ros::IncrementalModelRegistration::frame_id_

protected

Definition at line 127 of file incremental_model_registration.h.

boost::mutex jsk_pcl_ros::IncrementalModelRegistration::mutex_

protected

Definition at line 115 of file incremental_model_registration.h.

Eigen::Affine3f jsk_pcl_ros::IncrementalModelRegistration::origin_

protected

Definition at line 125 of file incremental_model_registration.h.

ros::Publisher jsk_pcl_ros::IncrementalModelRegistration::pub_cloud_non_registered_

protected

Definition at line 117 of file incremental_model_registration.h.

ros::Publisher jsk_pcl_ros::IncrementalModelRegistration::pub_registered_

protected

Definition at line 118 of file incremental_model_registration.h.

std::vector<CapturedSamplePointCloud::Ptr> jsk_pcl_ros::IncrementalModelRegistration::samples_

protected

Definition at line 124 of file incremental_model_registration.h.

ros::ServiceServer jsk_pcl_ros::IncrementalModelRegistration::start_registration_srv_

protected

Definition at line 116 of file incremental_model_registration.h.

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

protected

Definition at line 112 of file incremental_model_registration.h.

message_filters::Subscriber<pcl_msgs::PointIndices> jsk_pcl_ros::IncrementalModelRegistration::sub_indices_

protected

Definition at line 113 of file incremental_model_registration.h.

message_filters::Subscriber<geometry_msgs::PoseStamped> jsk_pcl_ros::IncrementalModelRegistration::sub_pose_

protected

Definition at line 114 of file incremental_model_registration.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::IncrementalModelRegistration::sync_

protected

Definition at line 111 of file incremental_model_registration.h.

boost::shared_ptr<pcl::visualization::PCLVisualizer> jsk_pcl_ros::IncrementalModelRegistration::viewer_

protected

Definition at line 119 of file incremental_model_registration.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