Public Types | Protected Member Functions | Protected Attributes | List of all members
jsk_pcl_ros::MultiPlaneSACSegmentation Class Reference

#include <multi_plane_sac_segmentation.h>

Inheritance diagram for jsk_pcl_ros::MultiPlaneSACSegmentation:
Inheritance graph
[legend]

Public Types

typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig Config
 
typedef message_filters::Synchronizer< SyncNormalImuPolicyNormalImuSynchronizer
 
typedef pcl::PointXYZRGB PointT
 
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > SyncClusterPolicy
 
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::Imu > SyncImuPolicy
 
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::Imu > SyncNormalImuPolicy
 
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > SyncPolicy
 

Protected Member Functions

virtual void applyRecursiveRANSAC (const pcl::PointCloud< PointT >::Ptr &input, const pcl::PointCloud< pcl::Normal >::Ptr &normal, const Eigen::Vector3f &imu_vector, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients, std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &output_polygons)
 
virtual void configCallback (Config &config, uint32_t level)
 
virtual void onInit ()
 
virtual void publishResult (const std_msgs::Header &header, const std::vector< pcl::PointIndices::Ptr > &inliers, const std::vector< pcl::ModelCoefficients::Ptr > &coefficients, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
 
virtual void segment (const sensor_msgs::PointCloud2::ConstPtr &msg)
 
virtual void segment (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal)
 
virtual void segmentWithClusters (const sensor_msgs::PointCloud2::ConstPtr &msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &clusters)
 
virtual void segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::Imu::ConstPtr &imu)
 
virtual void segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal, const sensor_msgs::Imu::ConstPtr &imu)
 
virtual void subscribe ()
 
virtual void unsubscribe ()
 
- 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::CallbackQueueInterfacegetMTCallbackQueue () const
 
ros::NodeHandlegetMTNodeHandle () const
 
ros::NodeHandlegetMTPrivateNodeHandle () const
 
const V_stringgetMyArgv () const
 
const std::stringgetName () const
 
ros::NodeHandlegetNodeHandle () const
 
ros::NodeHandlegetPrivateNodeHandle () const
 
const M_stringgetRemappingArgs () const
 
ros::CallbackQueueInterfacegetSTCallbackQueue () const
 
std::string getSuffixedName (const std::string &suffix) const
 

Protected Attributes

double eps_angle_
 
int max_iterations_
 
int min_inliers_
 
int min_points_
 
int min_trial_
 
boost::mutex mutex_
 
double normal_distance_weight_
 
double outlier_threshold_
 
ros::Publisher pub_coefficients_
 
ros::Publisher pub_inliers_
 
ros::Publisher pub_polygons_
 
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
 
ros::Subscriber sub_
 
message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices > sub_clusters_
 
message_filters::Subscriber< sensor_msgs::Imu > sub_imu_
 
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_input_
 
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_normal_
 
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_
 
boost::shared_ptr< message_filters::Synchronizer< SyncClusterPolicy > > sync_cluster_
 
boost::shared_ptr< message_filters::Synchronizer< SyncImuPolicy > > sync_imu_
 
boost::shared_ptr< message_filters::Synchronizer< SyncNormalImuPolicy > > sync_normal_imu_
 
tf::TransformListenertf_listener_
 
bool use_clusters_
 
bool use_imu_parallel_
 
bool use_imu_perpendicular_
 
bool use_normal_
 
- Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool always_subscribe_
 
std::vector< image_transport::CameraPublishercamera_publishers_
 
boost::mutex connection_mutex_
 
ConnectionStatus connection_status_
 
bool ever_subscribed_
 
std::vector< image_transport::Publisherimage_publishers_
 
boost::shared_ptr< ros::NodeHandlenh_
 
bool on_init_post_process_called_
 
boost::shared_ptr< ros::NodeHandlepnh_
 
std::vector< ros::Publisherpublishers_
 
bool subscribed_
 
ros::WallTimer timer_warn_never_subscribed_
 
ros::WallTimer timer_warn_on_init_post_process_called_
 
bool verbose_connection_
 

Additional Inherited Members

- 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 ()
 

Detailed Description

Definition at line 66 of file multi_plane_sac_segmentation.h.

Member Typedef Documentation

typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig jsk_pcl_ros::MultiPlaneSACSegmentation::Config

Definition at line 70 of file multi_plane_sac_segmentation.h.

Definition at line 87 of file multi_plane_sac_segmentation.h.

Definition at line 69 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncClusterPolicy

Definition at line 76 of file multi_plane_sac_segmentation.h.

Definition at line 80 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::Imu > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncNormalImuPolicy

Definition at line 85 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncPolicy

Definition at line 73 of file multi_plane_sac_segmentation.h.

Member Function Documentation

void jsk_pcl_ros::MultiPlaneSACSegmentation::applyRecursiveRANSAC ( const pcl::PointCloud< PointT >::Ptr &  input,
const pcl::PointCloud< pcl::Normal >::Ptr &  normal,
const Eigen::Vector3f &  imu_vector,
std::vector< pcl::PointIndices::Ptr > &  output_inliers,
std::vector< pcl::ModelCoefficients::Ptr > &  output_coefficients,
std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &  output_polygons 
)
protectedvirtual

Definition at line 154 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::configCallback ( Config config,
uint32_t  level 
)
protectedvirtual

Definition at line 142 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::onInit ( void  )
protectedvirtual
void jsk_pcl_ros::MultiPlaneSACSegmentation::publishResult ( const std_msgs::Header header,
const std::vector< pcl::PointIndices::Ptr > &  inliers,
const std::vector< pcl::ModelCoefficients::Ptr > &  coefficients,
const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &  convexes 
)
protectedvirtual

Definition at line 296 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segment ( const sensor_msgs::PointCloud2::ConstPtr &  msg)
protectedvirtual

Definition at line 398 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segment ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const sensor_msgs::PointCloud2::ConstPtr &  msg_nromal 
)
protectedvirtual

Definition at line 378 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithClusters ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &  clusters 
)
protectedvirtual

Definition at line 262 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const sensor_msgs::Imu::ConstPtr &  imu 
)
protectedvirtual

Definition at line 323 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const sensor_msgs::PointCloud2::ConstPtr &  msg_nromal,
const sensor_msgs::Imu::ConstPtr &  imu 
)
protectedvirtual

Definition at line 330 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::subscribe ( )
protectedvirtual
void jsk_pcl_ros::MultiPlaneSACSegmentation::unsubscribe ( )
protectedvirtual

Member Data Documentation

double jsk_pcl_ros::MultiPlaneSACSegmentation::eps_angle_
protected

Definition at line 150 of file multi_plane_sac_segmentation.h.

int jsk_pcl_ros::MultiPlaneSACSegmentation::max_iterations_
protected

Definition at line 145 of file multi_plane_sac_segmentation.h.

int jsk_pcl_ros::MultiPlaneSACSegmentation::min_inliers_
protected

Definition at line 143 of file multi_plane_sac_segmentation.h.

int jsk_pcl_ros::MultiPlaneSACSegmentation::min_points_
protected

Definition at line 144 of file multi_plane_sac_segmentation.h.

int jsk_pcl_ros::MultiPlaneSACSegmentation::min_trial_
protected

Definition at line 152 of file multi_plane_sac_segmentation.h.

boost::mutex jsk_pcl_ros::MultiPlaneSACSegmentation::mutex_
protected

Definition at line 136 of file multi_plane_sac_segmentation.h.

double jsk_pcl_ros::MultiPlaneSACSegmentation::normal_distance_weight_
protected

Definition at line 151 of file multi_plane_sac_segmentation.h.

double jsk_pcl_ros::MultiPlaneSACSegmentation::outlier_threshold_
protected

Definition at line 142 of file multi_plane_sac_segmentation.h.

ros::Publisher jsk_pcl_ros::MultiPlaneSACSegmentation::pub_coefficients_
protected

Definition at line 126 of file multi_plane_sac_segmentation.h.

ros::Publisher jsk_pcl_ros::MultiPlaneSACSegmentation::pub_inliers_
protected

Definition at line 126 of file multi_plane_sac_segmentation.h.

ros::Publisher jsk_pcl_ros::MultiPlaneSACSegmentation::pub_polygons_
protected

Definition at line 126 of file multi_plane_sac_segmentation.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::MultiPlaneSACSegmentation::srv_
protected

Definition at line 127 of file multi_plane_sac_segmentation.h.

ros::Subscriber jsk_pcl_ros::MultiPlaneSACSegmentation::sub_
protected

Definition at line 125 of file multi_plane_sac_segmentation.h.

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros::MultiPlaneSACSegmentation::sub_clusters_
protected

Definition at line 134 of file multi_plane_sac_segmentation.h.

message_filters::Subscriber<sensor_msgs::Imu> jsk_pcl_ros::MultiPlaneSACSegmentation::sub_imu_
protected

Definition at line 135 of file multi_plane_sac_segmentation.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::MultiPlaneSACSegmentation::sub_input_
protected

Definition at line 132 of file multi_plane_sac_segmentation.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::MultiPlaneSACSegmentation::sub_normal_
protected

Definition at line 133 of file multi_plane_sac_segmentation.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::MultiPlaneSACSegmentation::sync_
protected

Definition at line 128 of file multi_plane_sac_segmentation.h.

boost::shared_ptr<message_filters::Synchronizer<SyncClusterPolicy> > jsk_pcl_ros::MultiPlaneSACSegmentation::sync_cluster_
protected

Definition at line 129 of file multi_plane_sac_segmentation.h.

boost::shared_ptr<message_filters::Synchronizer<SyncImuPolicy> > jsk_pcl_ros::MultiPlaneSACSegmentation::sync_imu_
protected

Definition at line 130 of file multi_plane_sac_segmentation.h.

boost::shared_ptr<message_filters::Synchronizer<SyncNormalImuPolicy> > jsk_pcl_ros::MultiPlaneSACSegmentation::sync_normal_imu_
protected

Definition at line 131 of file multi_plane_sac_segmentation.h.

tf::TransformListener* jsk_pcl_ros::MultiPlaneSACSegmentation::tf_listener_
protected

Definition at line 137 of file multi_plane_sac_segmentation.h.

bool jsk_pcl_ros::MultiPlaneSACSegmentation::use_clusters_
protected

Definition at line 147 of file multi_plane_sac_segmentation.h.

bool jsk_pcl_ros::MultiPlaneSACSegmentation::use_imu_parallel_
protected

Definition at line 148 of file multi_plane_sac_segmentation.h.

bool jsk_pcl_ros::MultiPlaneSACSegmentation::use_imu_perpendicular_
protected

Definition at line 149 of file multi_plane_sac_segmentation.h.

bool jsk_pcl_ros::MultiPlaneSACSegmentation::use_normal_
protected

Definition at line 146 of file multi_plane_sac_segmentation.h.


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


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:48