36 #ifndef JSK_PCL_ROS_HINTED_PLANE_DETECTOR_H_ 37 #define JSK_PCL_ROS_HINTED_PLANE_DETECTOR_H_ 40 #include <pcl/point_types.h> 49 #include <geometry_msgs/PolygonStamped.h> 50 #include <jsk_recognition_msgs/PolygonArray.h> 51 #include <dynamic_reconfigure/server.h> 52 #include <jsk_pcl_ros/HintedPlaneDetectorConfig.h> 59 typedef HintedPlaneDetectorConfig
Config;
61 sensor_msgs::PointCloud2,
70 const sensor_msgs::PointCloud2::ConstPtr& cloud_msg,
71 const sensor_msgs::PointCloud2::ConstPtr& hint_cloud_msg);
73 pcl::PointCloud<pcl::PointXYZ>::Ptr hint_cloud,
76 pcl::PointCloud<pcl::PointNormal>::Ptr input_cloud,
79 pcl::PointCloud<pcl::PointNormal>::Ptr input_cloud,
80 const std::vector<pcl::PointIndices>& cluster_indices,
85 const pcl::PCLHeader&
header);
88 const pcl::PointCloud<pcl::PointNormal>::Ptr
cloud,
89 const pcl::PointIndices::Ptr indices,
90 pcl::PointIndices&
output);
92 const pcl::PointCloud<pcl::PointNormal>::Ptr cloud,
93 const pcl::PointIndices::Ptr indices,
95 pcl::PointIndices& output);
97 const pcl::PointCloud<pcl::PointNormal>::Ptr cloud,
98 const pcl::PointIndices::Ptr indices,
99 const Eigen::Vector3f& normal,
100 pcl::PointIndices& output,
103 const pcl::PointCloud<pcl::PointNormal>::Ptr cloud,
105 pcl::PointIndices& output);
virtual bool detectHintPlane(pcl::PointCloud< pcl::PointXYZ >::Ptr hint_cloud, jsk_recognition_utils::ConvexPolygon::Ptr &convex)
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_
bool enable_euclidean_filtering_
virtual void detect(const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &hint_cloud_msg)
double normal_filter_eps_angle_
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
ros::Publisher pub_hint_filtered_indices_
message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > SyncPolicy
virtual pcl::PointIndices::Ptr getBestCluster(pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, const std::vector< pcl::PointIndices > &cluster_indices, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex)
virtual void hintFilter(const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)
ros::Publisher pub_plane_filtered_indices_
ros::Publisher pub_hint_coefficients_
ros::Publisher pub_polygon_
virtual void publishPolygon(const jsk_recognition_utils::ConvexPolygon::Ptr convex, ros::Publisher &pub_polygon, ros::Publisher &pub_polygon_array, const pcl::PCLHeader &header)
ros::Publisher pub_hint_inliers_
ros::Publisher pub_hint_polygon_
double hint_outlier_threashold_
virtual void planeFilter(const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const Eigen::Vector3f &normal, pcl::PointIndices &output, pcl::ModelCoefficients &coefficients)
bool enable_density_filtering_
void output(int index, double value)
virtual bool detectLargerPlane(pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, jsk_recognition_utils::ConvexPolygon::Ptr hint_convex)
HintedPlaneDetectorConfig Config
virtual void unsubscribe()
ros::Publisher pub_hint_polygon_array_
virtual void euclideanFilter(const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)
virtual void configCallback(Config &config, uint32_t level)
int euclidean_clustering_filter_min_size_
virtual void densityFilter(const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, pcl::PointIndices &output)
ros::Publisher pub_euclidean_filtered_indices_
boost::mutex mutex
global mutex.
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_cloud_
double outlier_threashold_
ros::Publisher pub_density_filtered_indices_
double euclidean_clustering_filter_tolerance_
bool enable_normal_filtering_
ros::Publisher pub_coefficients_
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_hint_cloud_
bool enable_distance_filtering_
ros::Publisher pub_polygon_array_
ros::Publisher pub_inliers_