torus_finder.h
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35 
36 
37 #ifndef JSK_PCL_ROS_TORUS_FINDER_H_
38 #define JSK_PCL_ROS_TORUS_FINDER_H_
39 
41 #include <sensor_msgs/PointCloud2.h>
42 #include <jsk_recognition_msgs/TorusArray.h>
43 #include <jsk_recognition_msgs/Torus.h>
44 #include <jsk_pcl_ros/TorusFinderConfig.h>
45 #include <dynamic_reconfigure/server.h>
46 #include <geometry_msgs/PoseStamped.h>
47 #include <Eigen/Core>
48 #include <geometry_msgs/PolygonStamped.h>
50 
51 namespace jsk_pcl_ros
52 {
54  {
55  public:
56  typedef TorusFinderConfig Config;
57  TorusFinder(): timer_(10), done_initialization_(false), DiagnosticNodelet("TorusFinder") {}
58  protected:
59  virtual void onInit();
60  virtual void subscribe();
61  virtual void unsubscribe();
62  virtual void segment(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg);
63  virtual void segmentFromPoints(const geometry_msgs::PolygonStamped::ConstPtr& polygon_msg);
64  virtual void configCallback(Config &config, uint32_t level);
65 
67  // ROS variables
83  Eigen::Vector3f hint_axis_;
84 
86  // Parameters
88  std::string algorithm_;
89  double min_radius_;
90  double max_radius_;
93  bool use_hint_;
96  int min_size_;
98  double voxel_size_;
100  private:
101  };
102 }
103 
104 #endif
Eigen::Vector3f hint_axis_
Definition: torus_finder.h:83
ros::Publisher pub_latest_time_
Definition: torus_finder.h:79
config
virtual void configCallback(Config &config, uint32_t level)
TorusFinderConfig Config
Definition: torus_finder.h:56
ros::Publisher pub_torus_
Definition: torus_finder.h:72
DiagnosticNodelet(const std::string &name)
virtual void segmentFromPoints(const geometry_msgs::PolygonStamped::ConstPtr &polygon_msg)
ros::Publisher pub_average_time_
Definition: torus_finder.h:80
jsk_recognition_msgs::PolygonArray::ConstPtr polygon_msg
ros::Publisher pub_torus_array_
Definition: torus_finder.h:73
ros::Publisher pub_torus_with_failure_
Definition: torus_finder.h:74
boost::mutex mutex
global mutex.
ros::Publisher pub_torus_array_with_failure_
Definition: torus_finder.h:75
ros::Publisher pub_coefficients_
Definition: torus_finder.h:77
virtual void segment(const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
ros::Publisher pub_inliers_
Definition: torus_finder.h:76
ros::Publisher pub_pose_stamped_
Definition: torus_finder.h:78
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
Definition: torus_finder.h:69
ros::Subscriber sub_
Definition: torus_finder.h:70
jsk_recognition_utils::WallDurationTimer timer_
Definition: torus_finder.h:81
ros::Subscriber sub_points_
Definition: torus_finder.h:71


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