#include <primitive_shape_classifier.h>

Inheritance diagram for jsk_pcl_ros::PrimitiveShapeClassifier:

Public Types
typedef PrimitiveShapeClassifierConfig	Config

typedef pcl::PointXYZRGBA	PointT

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

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

Public Member Functions
	PrimitiveShapeClassifier ()

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 bool	checkFrameId (const sensor_msgs::PointCloud2::ConstPtr &ros_cloud, const sensor_msgs::PointCloud2::ConstPtr &ros_normal, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &ros_indices, const jsk_recognition_msgs::PolygonArray::ConstPtr &ros_polygons)

virtual void	configCallback (Config &config, uint32_t level)

virtual bool	estimate (const pcl::PointCloud< PointT >::Ptr &cloud, const pcl::PointCloud< pcl::Normal >::Ptr &normal, const pcl::ModelCoefficients::Ptr &plane, pcl::PointIndices::Ptr &boundary_indices, pcl::PointCloud< PointT >::Ptr &projected_cloud, float &circle_likelihood, float &box_likelihood)

virtual bool	getSupportPlane (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< jsk_recognition_utils::Polygon::Ptr > &polygons, pcl::ModelCoefficients::Ptr &coeff)

virtual void	onInit ()

virtual void	process (const sensor_msgs::PointCloud2::ConstPtr &ros_cloud, const sensor_msgs::PointCloud2::ConstPtr &ros_normal, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &ros_indices, const jsk_recognition_msgs::PolygonArray::ConstPtr &ros_polygons)

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
double	box_threshold_

double	circle_threshold_

int	min_points_num_

boost::mutex	mutex_

ros::Publisher	pub_boundary_indices_

ros::Publisher	pub_class_

ros::Publisher	pub_projected_cloud_

int	queue_size_

double	sac_distance_threshold_

int	sac_max_iterations_

double	sac_radius_limit_max_

double	sac_radius_limit_min_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_indices_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_normal_

message_filters::Subscriber< jsk_recognition_msgs::PolygonArray >	sub_polygons_

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

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 62 of file primitive_shape_classifier.h.

Member Typedef Documentation

typedef PrimitiveShapeClassifierConfig jsk_pcl_ros::PrimitiveShapeClassifier::Config

Definition at line 69 of file primitive_shape_classifier.h.

typedef pcl::PointXYZRGBA jsk_pcl_ros::PrimitiveShapeClassifier::PointT

Definition at line 70 of file primitive_shape_classifier.h.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray> jsk_pcl_ros::PrimitiveShapeClassifier::SyncPolicy

Definition at line 68 of file primitive_shape_classifier.h.

Constructor & Destructor Documentation

jsk_pcl_ros::PrimitiveShapeClassifier::PrimitiveShapeClassifier ( )

inline

Definition at line 72 of file primitive_shape_classifier.h.

Member Function Documentation

bool jsk_pcl_ros::PrimitiveShapeClassifier::checkFrameId	(	const sensor_msgs::PointCloud2::ConstPtr &	ros_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	ros_normal,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	ros_indices,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	ros_polygons
	)

protectedvirtual

Definition at line 120 of file primitive_shape_classifier_nodelet.cpp.

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

protectedvirtual

Definition at line 92 of file primitive_shape_classifier_nodelet.cpp.

bool jsk_pcl_ros::PrimitiveShapeClassifier::estimate	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::PointCloud< pcl::Normal >::Ptr &	normal,
		const pcl::ModelCoefficients::Ptr &	plane,
		pcl::PointIndices::Ptr &	boundary_indices,
		pcl::PointCloud< PointT >::Ptr &	projected_cloud,
		float &	circle_likelihood,
		float &	box_likelihood
	)

protectedvirtual

Definition at line 252 of file primitive_shape_classifier_nodelet.cpp.

bool jsk_pcl_ros::PrimitiveShapeClassifier::getSupportPlane	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< jsk_recognition_utils::Polygon::Ptr > &	polygons,
		pcl::ModelCoefficients::Ptr &	coeff
	)

protectedvirtual

Definition at line 333 of file primitive_shape_classifier_nodelet.cpp.

void jsk_pcl_ros::PrimitiveShapeClassifier::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 54 of file primitive_shape_classifier_nodelet.cpp.

void jsk_pcl_ros::PrimitiveShapeClassifier::process	(	const sensor_msgs::PointCloud2::ConstPtr &	ros_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	ros_normal,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	ros_indices,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	ros_polygons
	)