#include <ppf_registration.h>

Inheritance diagram for jsk_pcl_ros::PPFRegistration:

Public Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray >	ArrayApproximateSyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray >	ArraySyncPolicy

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	CloudApproximateSyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	CloudSyncPolicy

typedef jsk_pcl_ros::PPFRegistrationConfig	Config

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

Public Member Functions
	PPFRegistration ()

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	ArrayRegistration (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::PointsArray::ConstPtr &input_reference_points_array)

virtual pcl::PointCloud< pcl::PointNormal >::Ptr	calculateNormals (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud)

virtual void	CloudRegistration (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const sensor_msgs::PointCloud2::ConstPtr &input_reference_cloud)

virtual void	configCallback (Config &config, uint32_t level)

virtual void	onInit ()

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
bool	approximate_sync_

boost::shared_ptr< message_filters::Synchronizer< ArrayApproximateSyncPolicy > >	array_async_

boost::shared_ptr< message_filters::Synchronizer< ArraySyncPolicy > >	array_sync_

boost::shared_ptr< message_filters::Synchronizer< CloudApproximateSyncPolicy > >	cloud_async_

boost::shared_ptr< message_filters::Synchronizer< CloudSyncPolicy > >	cloud_sync_

pcl::PointCloud< pcl::PointNormal >::Ptr	cloud_with_normals

boost::mutex	mutex_

double	position_clustering_threshold_

pcl::PPFEstimation< pcl::PointNormal, pcl::PointNormal, pcl::PPFSignature >	ppf_estimator

pcl::PPFRegistration< pcl::PointNormal, pcl::PointNormal >	ppf_registration

ros::Publisher	pub_cloud_

ros::Publisher	pub_points_array_

ros::Publisher	pub_pose_array_

ros::Publisher	pub_pose_stamped_

int	queue_size_

pcl::PointCloud< pcl::PointNormal >::Ptr	reference_cloud_with_normals

double	rotation_clustering_threshold_

int	sampling_rate_

double	search_radius_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

message_filters::Subscriber< jsk_recognition_msgs::PointsArray >	sub_reference_array_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_reference_cloud_

bool	use_array_

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 61 of file ppf_registration.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::ArrayApproximateSyncPolicy

Definition at line 69 of file ppf_registration.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::ArraySyncPolicy

Definition at line 66 of file ppf_registration.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::CloudApproximateSyncPolicy

Definition at line 75 of file ppf_registration.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::CloudSyncPolicy

Definition at line 72 of file ppf_registration.h.

typedef jsk_pcl_ros::PPFRegistrationConfig jsk_pcl_ros::PPFRegistration::Config

Definition at line 76 of file ppf_registration.h.

Constructor & Destructor Documentation

jsk_pcl_ros::PPFRegistration::PPFRegistration ( )

inline

Definition at line 77 of file ppf_registration.h.

Member Function Documentation

void jsk_pcl_ros::PPFRegistration::ArrayRegistration	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::PointsArray::ConstPtr &	input_reference_points_array
	)

protectedvirtual

Definition at line 198 of file ppf_registration_nodelet.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr jsk_pcl_ros::PPFRegistration::calculateNormals ( pcl::PointCloud< pcl::PointXYZ >::Ptr cloud )

protectedvirtual

Definition at line 104 of file ppf_registration_nodelet.cpp.

void jsk_pcl_ros::PPFRegistration::CloudRegistration	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	input_reference_cloud
	)

protectedvirtual

Definition at line 133 of file ppf_registration_nodelet.cpp.

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

protectedvirtual

Definition at line 122 of file ppf_registration_nodelet.cpp.

void jsk_pcl_ros::PPFRegistration::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 45 of file ppf_registration_nodelet.cpp.

void jsk_pcl_ros::PPFRegistration::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 60 of file ppf_registration_nodelet.cpp.

void jsk_pcl_ros::PPFRegistration::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 97 of file ppf_registration_nodelet.cpp.

Member Data Documentation

bool jsk_pcl_ros::PPFRegistration::approximate_sync_

protected

Definition at line 99 of file ppf_registration.h.

boost::shared_ptr<message_filters::Synchronizer<ArrayApproximateSyncPolicy> > jsk_pcl_ros::PPFRegistration::array_async_

protected

Definition at line 96 of file ppf_registration.h.

boost::shared_ptr<message_filters::Synchronizer<ArraySyncPolicy> > jsk_pcl_ros::PPFRegistration::array_sync_

protected

Definition at line 95 of file ppf_registration.h.

boost::shared_ptr<message_filters::Synchronizer<CloudApproximateSyncPolicy> > jsk_pcl_ros::PPFRegistration::cloud_async_

protected

Definition at line 98 of file ppf_registration.h.

boost::shared_ptr<message_filters::Synchronizer<CloudSyncPolicy> > jsk_pcl_ros::PPFRegistration::cloud_sync_

protected

Definition at line 97 of file ppf_registration.h.

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::PPFRegistration::cloud_with_normals

protected

Definition at line 111 of file ppf_registration.h.

boost::mutex jsk_pcl_ros::PPFRegistration::mutex_

protected

Definition at line 94 of file ppf_registration.h.

double jsk_pcl_ros::PPFRegistration::position_clustering_threshold_

protected

Definition at line 104 of file ppf_registration.h.

pcl::PPFEstimation<pcl::PointNormal, pcl::PointNormal, pcl::PPFSignature> jsk_pcl_ros::PPFRegistration::ppf_estimator

protected

Definition at line 113 of file ppf_registration.h.

pcl::PPFRegistration<pcl::PointNormal, pcl::PointNormal> jsk_pcl_ros::PPFRegistration::ppf_registration

protected

Definition at line 114 of file ppf_registration.h.

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_cloud_

protected

Definition at line 109 of file ppf_registration.h.

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_points_array_

protected

Definition at line 107 of file ppf_registration.h.

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_pose_array_

protected

Definition at line 106 of file ppf_registration.h.

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_pose_stamped_

protected

Definition at line 108 of file ppf_registration.h.

int jsk_pcl_ros::PPFRegistration::queue_size_

protected

Definition at line 100 of file ppf_registration.h.

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::PPFRegistration::reference_cloud_with_normals

protected

Definition at line 112 of file ppf_registration.h.

double jsk_pcl_ros::PPFRegistration::rotation_clustering_threshold_

protected

Definition at line 105 of file ppf_registration.h.

int jsk_pcl_ros::PPFRegistration::sampling_rate_

protected

Definition at line 102 of file ppf_registration.h.

double jsk_pcl_ros::PPFRegistration::search_radius_

protected

Definition at line 101 of file ppf_registration.h.

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

protected

Definition at line 90 of file ppf_registration.h.

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

protected

Definition at line 91 of file ppf_registration.h.

message_filters::Subscriber<jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::sub_reference_array_

protected

Definition at line 93 of file ppf_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::sub_reference_cloud_

protected

Definition at line 92 of file ppf_registration.h.

bool jsk_pcl_ros::PPFRegistration::use_array_

protected

Definition at line 103 of file ppf_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