multi_plane_extraction.h
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35 #ifndef JSK_PCL_ROS_MULTI_PLANE_EXTRACTION_H_
36 #define JSK_PCL_ROS_MULTI_PLANE_EXTRACTION_H_
37 
38 #include <ros/ros.h>
39 #include <ros/names.h>
40 #include <pcl_ros/pcl_nodelet.h>
45 
46 #include "jsk_recognition_msgs/ClusterPointIndices.h"
47 #include "sensor_msgs/PointCloud2.h"
48 #include "jsk_recognition_msgs/ModelCoefficientsArray.h"
49 #include "jsk_recognition_msgs/PolygonArray.h"
50 #include <dynamic_reconfigure/server.h>
51 #include "jsk_pcl_ros/MultiPlaneExtractionConfig.h"
57 
58 namespace jsk_pcl_ros
59 {
61  {
62  public:
63 
65  sensor_msgs::PointCloud2,
66  jsk_recognition_msgs::ClusterPointIndices,
67  jsk_recognition_msgs::ModelCoefficientsArray,
68  jsk_recognition_msgs::PolygonArray> SyncPolicy;
70  sensor_msgs::PointCloud2,
71  jsk_recognition_msgs::ClusterPointIndices,
72  jsk_recognition_msgs::ModelCoefficientsArray,
73  jsk_recognition_msgs::PolygonArray> ASyncPolicy;
74  typedef jsk_pcl_ros::MultiPlaneExtractionConfig Config;
75 
76  MultiPlaneExtraction(): DiagnosticNodelet("MultiPlaneExtraction") { }
77  protected:
79  // methods
81  virtual void onInit();
82 
83  virtual void fillEmptyIndices(
84  const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons);
85  virtual void fillEmptyCoefficients(
86  const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons);
87 
88  virtual void extract(const sensor_msgs::PointCloud2::ConstPtr& input,
89  const jsk_recognition_msgs::ClusterPointIndices::ConstPtr& indices,
90  const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr& coefficients,
91  const jsk_recognition_msgs::PolygonArray::ConstPtr& polygons);
92 
93  virtual void configCallback (Config &config, uint32_t level);
94 
95  virtual void updateDiagnostic(
97 
98  virtual void subscribe();
99  virtual void unsubscribe();
101  // ROS variables
115 
116 
118  // Diagnostics Variables
121 
123  // Parameters
131  double magnify_;
133  std::string sensor_frame_;
135  private:
136 
137 
138  };
139 }
140 
141 #endif
message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices > sub_indices_
virtual void configCallback(Config &config, uint32_t level)
message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::PolygonArray > ASyncPolicy
config
virtual void fillEmptyIndices(const jsk_recognition_msgs::PolygonArray::ConstPtr &polygons)
coefficients
jsk_recognition_utils::Counter plane_counter_
message_filters::PassThrough< jsk_recognition_msgs::ClusterPointIndices > null_indices_
DiagnosticNodelet(const std::string &name)
message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::PolygonArray > SyncPolicy
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_
jsk_pcl_ros::MultiPlaneExtractionConfig Config
boost::shared_ptr< message_filters::Synchronizer< ASyncPolicy > > async_
message_filters::Subscriber< jsk_recognition_msgs::PolygonArray > sub_polygons_
boost::mutex mutex
global mutex.
message_filters::PassThrough< jsk_recognition_msgs::ModelCoefficientsArray > null_coefficients_
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
virtual void updateDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &stat)
virtual void extract(const sensor_msgs::PointCloud2::ConstPtr &input, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygons)
virtual void fillEmptyCoefficients(const jsk_recognition_msgs::PolygonArray::ConstPtr &polygons)
message_filters::Subscriber< jsk_recognition_msgs::ModelCoefficientsArray > sub_coefficients_
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_input_
polygons


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:47