#include <organized_edge_detector.h>

Inheritance diagram for jsk_pcl_ros::OrganizedEdgeDetector:

Public Types
typedef jsk_pcl_ros::OrganizedEdgeDetectorConfig	Config

typedef pcl::PointXYZRGB	PointT

Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)

virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &msg)

virtual void	estimateEdge (const pcl::PointCloud< PointT >::Ptr &input, const pcl::PointCloud< pcl::Normal >::Ptr &normal, pcl::PointCloud< pcl::Label >::Ptr &output, std::vector< pcl::PointIndices > &label_indices)

virtual void	estimateNormal (const pcl::PointCloud< PointT >::Ptr &input, pcl::PointCloud< pcl::Normal >::Ptr output, const std_msgs::Header &header)

virtual void	estimateStraightEdges (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, const std_msgs::Header &header, std::vector< std::vector< int > > &output_indices)

virtual void	onInit ()

virtual void	publishIndices (ros::Publisher &pub, ros::Publisher &pub_indices, const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, const std_msgs::Header &header)

virtual void	publishStraightEdges (const pcl::PointCloud< PointT >::Ptr &cloud, const std_msgs::Header &header, const std::vector< std::vector< int > > indices)

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::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
bool	border_policy_ignore_

bool	depth_dependent_smoothing_

double	depth_discontinuation_threshold_

int	estimation_method_

double	max_depth_change_factor_

double	max_line_gap_

int	max_search_neighbors_

double	min_line_length_

boost::mutex	mutex_

double	normal_smoothing_size_

ros::Publisher	pub_all_edges_

ros::Publisher	pub_all_edges_indices_

ros::Publisher	pub_curvature_edges_

ros::Publisher	pub_curvature_edges_indices_

image_transport::Publisher	pub_edge_image_

image_transport::Publisher	pub_hough_image_

ros::Publisher	pub_nan_boundary_edges_

ros::Publisher	pub_nan_boundary_edges_indices_

ros::Publisher	pub_normal_

ros::Publisher	pub_occluded_edges_

ros::Publisher	pub_occluded_edges_indices_

ros::Publisher	pub_occluding_edges_

ros::Publisher	pub_occluding_edges_indices_

ros::Publisher	pub_rgb_edges_

ros::Publisher	pub_rgb_edges_indices_

ros::Publisher	pub_straight_edges_indices_

bool	publish_debug_image_

bool	publish_normal_

double	rho_

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

int	straightline_threshold_

ros::Subscriber	sub_

double	theta_

bool	use_curvature_

bool	use_nan_boundary_

bool	use_occluded_

bool	use_occluding_

bool	use_rgb_

bool	use_straightline_detection_

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_

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 49 of file organized_edge_detector.h.

Member Typedef Documentation

typedef jsk_pcl_ros::OrganizedEdgeDetectorConfig jsk_pcl_ros::OrganizedEdgeDetector::Config

Definition at line 53 of file organized_edge_detector.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::OrganizedEdgeDetector::PointT

Definition at line 52 of file organized_edge_detector.h.

Member Function Documentation

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

protectedvirtual

Definition at line 156 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::estimate ( const sensor_msgs::PointCloud2::ConstPtr & msg )

protectedvirtual

Definition at line 315 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::estimateEdge	(	const pcl::PointCloud< PointT >::Ptr &	input,
		const pcl::PointCloud< pcl::Normal >::Ptr &	normal,
		pcl::PointCloud< pcl::Label >::Ptr &	output,
		std::vector< pcl::PointIndices > &	label_indices
	)

protectedvirtual

Definition at line 181 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::estimateNormal	(	const pcl::PointCloud< PointT >::Ptr &	input,
		pcl::PointCloud< pcl::Normal >::Ptr	output,
		const std_msgs::Header &	header
	)

protectedvirtual

Definition at line 116 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::estimateStraightEdges	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		const std_msgs::Header &	header,
		std::vector< std::vector< int > > &	output_indices
	)

protectedvirtual

Definition at line 256 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 52 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::publishIndices	(	ros::Publisher &	pub,
		ros::Publisher &	pub_indices,
		const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		const std_msgs::Header &	header
	)

protectedvirtual

Definition at line 212 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::publishStraightEdges	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std_msgs::Header &	header,
		const std::vector< std::vector< int > >	indices
	)

protectedvirtual

Definition at line 238 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 106 of file organized_edge_detector_nodelet.cpp.

void jsk_pcl_ros::OrganizedEdgeDetector::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 111 of file organized_edge_detector_nodelet.cpp.

Member Data Documentation

bool jsk_pcl_ros::OrganizedEdgeDetector::border_policy_ignore_

protected

Definition at line 109 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::depth_dependent_smoothing_

protected

Definition at line 112 of file organized_edge_detector.h.

double jsk_pcl_ros::OrganizedEdgeDetector::depth_discontinuation_threshold_

protected

Definition at line 117 of file organized_edge_detector.h.

int jsk_pcl_ros::OrganizedEdgeDetector::estimation_method_

protected

Definition at line 108 of file organized_edge_detector.h.

double jsk_pcl_ros::OrganizedEdgeDetector::max_depth_change_factor_

protected

Definition at line 110 of file organized_edge_detector.h.

double jsk_pcl_ros::OrganizedEdgeDetector::max_line_gap_

protected

Definition at line 133 of file organized_edge_detector.h.

int jsk_pcl_ros::OrganizedEdgeDetector::max_search_neighbors_

protected

Definition at line 118 of file organized_edge_detector.h.

double jsk_pcl_ros::OrganizedEdgeDetector::min_line_length_

protected

Definition at line 132 of file organized_edge_detector.h.

boost::mutex jsk_pcl_ros::OrganizedEdgeDetector::mutex_

protected

Definition at line 104 of file organized_edge_detector.h.

double jsk_pcl_ros::OrganizedEdgeDetector::normal_smoothing_size_

protected

Definition at line 111 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_all_edges_

protected

Definition at line 97 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_all_edges_indices_

protected

Definition at line 94 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_curvature_edges_

protected

Definition at line 97 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_curvature_edges_indices_

protected

Definition at line 94 of file organized_edge_detector.h.

image_transport::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_edge_image_

protected

Definition at line 102 of file organized_edge_detector.h.

image_transport::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_hough_image_

protected

Definition at line 102 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_nan_boundary_edges_

protected

Definition at line 97 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_nan_boundary_edges_indices_

protected

Definition at line 94 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_normal_

protected

Definition at line 100 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_occluded_edges_

protected

Definition at line 97 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_occluded_edges_indices_

protected

Definition at line 94 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_occluding_edges_

protected

Definition at line 97 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_occluding_edges_indices_

protected

Definition at line 94 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_rgb_edges_

protected

Definition at line 97 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_rgb_edges_indices_

protected

Definition at line 94 of file organized_edge_detector.h.

ros::Publisher jsk_pcl_ros::OrganizedEdgeDetector::pub_straight_edges_indices_

protected

Definition at line 101 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::publish_debug_image_

protected

Definition at line 134 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::publish_normal_

protected

Definition at line 113 of file organized_edge_detector.h.

double jsk_pcl_ros::OrganizedEdgeDetector::rho_

protected

Definition at line 129 of file organized_edge_detector.h.

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

protected

Definition at line 103 of file organized_edge_detector.h.

int jsk_pcl_ros::OrganizedEdgeDetector::straightline_threshold_

protected

Definition at line 131 of file organized_edge_detector.h.

ros::Subscriber jsk_pcl_ros::OrganizedEdgeDetector::sub_

protected

Definition at line 93 of file organized_edge_detector.h.

double jsk_pcl_ros::OrganizedEdgeDetector::theta_

protected

Definition at line 130 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::use_curvature_

protected

Definition at line 122 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::use_nan_boundary_

protected

Definition at line 119 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::use_occluded_

protected

Definition at line 121 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::use_occluding_

protected

Definition at line 120 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::use_rgb_

protected

Definition at line 123 of file organized_edge_detector.h.

bool jsk_pcl_ros::OrganizedEdgeDetector::use_straightline_detection_

protected

Definition at line 128 of file organized_edge_detector.h.

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

Public Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation