#include <line_segment_collector.h>

Inheritance diagram for jsk_pcl_ros::LineSegmentCollector:

Public Types
typedef jsk_pcl_ros::LineSegmentCollectorConfig	Config

enum	RotateType { ROTATION_SPINDLE, ROTATION_TILT, ROTATION_TILT_TWO_WAY }

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray >	SyncPolicy

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

Public Member Functions
	LineSegmentCollector ()

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	cleanupBuffers (const ros::Time &stamp)

virtual void	collect (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg)

virtual void	collectFromBuffers (const std_msgs::Header &header, std::vector< LineSegment::Ptr > new_segments)

virtual void	configCallback (Config &config, uint32_t level)

virtual LineSegmentCluster::Ptr	lookupNearestSegment (LineSegment::Ptr segment)

virtual void	onInit ()

virtual void	publishBeforePlaneSegmentation (const std_msgs::Header &header, const pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, const std::vector< pcl::PointIndices::Ptr > &connected_indices)

virtual void	publishResult (const std_msgs::Header &header, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, std::vector< pcl::ModelCoefficients::Ptr > all_coefficients, std::vector< pcl::PointIndices::Ptr > all_indices)

virtual void	subscribe ()

virtual void	triggerCallback (const jsk_recognition_msgs::TimeRange::ConstPtr &trigger)

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
TimeStampedVector< jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr >	coefficients_buffer_

jsk_topic_tools::TimeAccumulator	connect_ac_

ros::Publisher	debug_pub_inliers_before_plane_

double	ewma_tau_

std::string	fixed_frame_id_

TimeStampedVector< jsk_recognition_msgs::ClusterPointIndices::ConstPtr >	indices_buffer_

boost::mutex	mutex_

double	outlier_threshold_

TimeStampedVector< sensor_msgs::PointCloud2::ConstPtr >	pointclouds_buffer_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_inliers_

ros::Publisher	pub_point_cloud_

ros::Publisher	pub_polygons_

RotateType	rotate_type_

std::vector< LineSegmentCluster::Ptr >	segment_clusters_

double	segment_connect_normal_threshold_

TimeStampedVector< LineSegment::Ptr >	segments_buffer_

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

message_filters::Subscriber< jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_indices_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

ros::Subscriber	sub_trigger_

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

jsk_recognition_msgs::TimeRange::ConstPtr	time_range_

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 106 of file line_segment_collector.h.

Member Typedef Documentation

typedef jsk_pcl_ros::LineSegmentCollectorConfig jsk_pcl_ros::LineSegmentCollector::Config

Definition at line 117 of file line_segment_collector.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::LineSegmentCollector::SyncPolicy

Definition at line 113 of file line_segment_collector.h.

Member Enumeration Documentation

enum jsk_pcl_ros::LineSegmentCollector::RotateType

Enumerator
ROTATION_SPINDLE
ROTATION_TILT
ROTATION_TILT_TWO_WAY

Definition at line 114 of file line_segment_collector.h.

Constructor & Destructor Documentation

jsk_pcl_ros::LineSegmentCollector::LineSegmentCollector ( )

inline

Definition at line 109 of file line_segment_collector.h.

Member Function Documentation

void jsk_pcl_ros::LineSegmentCollector::cleanupBuffers ( const ros::Time & stamp )

protectedvirtual

Definition at line 193 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::collect	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	indices_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coefficients_msg
	)

protectedvirtual

Definition at line 341 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::collectFromBuffers	(	const std_msgs::Header &	header,
		std::vector< LineSegment::Ptr >	new_segments
	)

protectedvirtual

Definition at line 268 of file line_segment_collector_nodelet.cpp.

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

protectedvirtual

Definition at line 164 of file line_segment_collector_nodelet.cpp.

LineSegmentCluster::Ptr jsk_pcl_ros::LineSegmentCollector::lookupNearestSegment ( LineSegment::Ptr segment )

protectedvirtual

Definition at line 236 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 126 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::publishBeforePlaneSegmentation	(	const std_msgs::Header &	header,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		const std::vector< pcl::PointIndices::Ptr > &	connected_indices
	)

protectedvirtual

Definition at line 220 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::publishResult	(	const std_msgs::Header &	header,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		std::vector< pcl::ModelCoefficients::Ptr >	all_coefficients,
		std::vector< pcl::PointIndices::Ptr >	all_indices
	)

protectedvirtual

Definition at line 308 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 172 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::triggerCallback ( const jsk_recognition_msgs::TimeRange::ConstPtr & trigger )

protectedvirtual

Definition at line 212 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 185 of file line_segment_collector_nodelet.cpp.

Member Data Documentation

TimeStampedVector<jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr> jsk_pcl_ros::LineSegmentCollector::coefficients_buffer_

protected

Definition at line 171 of file line_segment_collector.h.

jsk_topic_tools::TimeAccumulator jsk_pcl_ros::LineSegmentCollector::connect_ac_

protected

Definition at line 161 of file line_segment_collector.h.

ros::Publisher jsk_pcl_ros::LineSegmentCollector::debug_pub_inliers_before_plane_

protected

Definition at line 159 of file line_segment_collector.h.

double jsk_pcl_ros::LineSegmentCollector::ewma_tau_

protected

Definition at line 175 of file line_segment_collector.h.

std::string jsk_pcl_ros::LineSegmentCollector::fixed_frame_id_

protected

Definition at line 167 of file line_segment_collector.h.

TimeStampedVector<jsk_recognition_msgs::ClusterPointIndices::ConstPtr> jsk_pcl_ros::LineSegmentCollector::indices_buffer_

protected

Definition at line 170 of file line_segment_collector.h.

boost::mutex jsk_pcl_ros::LineSegmentCollector::mutex_

protected

Definition at line 150 of file line_segment_collector.h.

double jsk_pcl_ros::LineSegmentCollector::outlier_threshold_

protected

Definition at line 180 of file line_segment_collector.h.

TimeStampedVector<sensor_msgs::PointCloud2::ConstPtr> jsk_pcl_ros::LineSegmentCollector::pointclouds_buffer_

protected

Definition at line 169 of file line_segment_collector.h.

ros::Publisher jsk_pcl_ros::LineSegmentCollector::pub_coefficients_

protected

Definition at line 157 of file line_segment_collector.h.

ros::Publisher jsk_pcl_ros::LineSegmentCollector::pub_inliers_

protected

Definition at line 156 of file line_segment_collector.h.

ros::Publisher jsk_pcl_ros::LineSegmentCollector::pub_point_cloud_

protected

Definition at line 155 of file line_segment_collector.h.

ros::Publisher jsk_pcl_ros::LineSegmentCollector::pub_polygons_

protected

Definition at line 158 of file line_segment_collector.h.

RotateType jsk_pcl_ros::LineSegmentCollector::rotate_type_

protected

Definition at line 168 of file line_segment_collector.h.

std::vector<LineSegmentCluster::Ptr> jsk_pcl_ros::LineSegmentCollector::segment_clusters_

protected

Definition at line 173 of file line_segment_collector.h.

double jsk_pcl_ros::LineSegmentCollector::segment_connect_normal_threshold_

protected

Definition at line 174 of file line_segment_collector.h.

TimeStampedVector<LineSegment::Ptr> jsk_pcl_ros::LineSegmentCollector::segments_buffer_

protected

Definition at line 172 of file line_segment_collector.h.

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

protected

Definition at line 160 of file line_segment_collector.h.

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::LineSegmentCollector::sub_coefficients_

protected

Definition at line 154 of file line_segment_collector.h.

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros::LineSegmentCollector::sub_indices_

protected

Definition at line 153 of file line_segment_collector.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::LineSegmentCollector::sub_input_

protected

Definition at line 152 of file line_segment_collector.h.

ros::Subscriber jsk_pcl_ros::LineSegmentCollector::sub_trigger_

protected

Definition at line 162 of file line_segment_collector.h.

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

protected

Definition at line 151 of file line_segment_collector.h.

jsk_recognition_msgs::TimeRange::ConstPtr jsk_pcl_ros::LineSegmentCollector::time_range_

protected

Definition at line 176 of file line_segment_collector.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

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation