#include <edgebased_cube_finder.h>

Inheritance diagram for jsk_pcl_ros::EdgebasedCubeFinder:

Public Types
typedef jsk_pcl_ros::EdgebasedCubeFinderConfig	Config

enum	EdgeRelation { NOT_PERPENDICULAR, A_PERPENDICULAR, B_PERPENDICULAR, C_PERPENDICULAR }

typedef pcl::PointXYZRGB	PointT

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

Public Member Functions
virtual	~EdgebasedCubeFinder ()

Protected Member Functions
virtual std::vector< CoefficientsPair >	combinateCoefficients (const std::vector< pcl::ModelCoefficients::Ptr > &coefficients)

virtual std::vector< IndicesPair >	combinateIndices (const std::vector< pcl::PointIndices::Ptr > &indices)

virtual void	configCallback (Config &config, uint32_t level)

virtual jsk_recognition_utils::ConvexPolygon::Ptr	convexFromPairs (const pcl::PointCloud< PointT >::Ptr cloud, const CoefficientsPair &coefficients_pair, const IndicesPair &indices_pair)

virtual int	countInliers (const pcl::PointCloud< PointT >::Ptr cloud, const jsk_recognition_utils::ConvexPolygon::Ptr convex)

virtual jsk_recognition_utils::Cube::Ptr	cubeFromIndicesAndCoefficients (const pcl::PointCloud< PointT >::Ptr cloud, const IndicesCoefficientsTriple &indices_coefficients_triple, pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr points_on_edge)

virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &input_edges)

virtual void	estimate2 (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &input_edges)

virtual jsk_recognition_utils::ConvexPolygon::Ptr	estimateConvexPolygon (const pcl::PointCloud< PointT >::Ptr cloud, const pcl::PointIndices::Ptr indices, pcl::ModelCoefficients::Ptr coefficients, pcl::PointIndices::Ptr inliers)

virtual void	estimateParallelPlane (const jsk_recognition_utils::ConvexPolygon::Ptr convex, const pcl::PointCloud< PointT >::Ptr filtered_cloud, pcl::PointIndices::Ptr output_inliers, pcl::ModelCoefficients::Ptr output_coefficients)

virtual void	estimatePerpendicularPlane (const jsk_recognition_utils::ConvexPolygon::Ptr convex, const CoefficientsPair &edge_coefficients, const pcl::PointCloud< PointT >::Ptr filtered_cloud, pcl::PointIndices::Ptr output_inliers, pcl::ModelCoefficients::Ptr output_coefficients)

virtual pcl::PointCloud< PointT >::Ptr	extractPointCloud (const pcl::PointCloud< PointT >::Ptr cloud, const pcl::PointIndices::Ptr indices)

virtual void	filterBasedOnConvex (const pcl::PointCloud< PointT >::Ptr cloud, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes, std::vector< int > &output_indices)

virtual void	filterPairsBasedOnParallelEdgeDistances (const std::vector< IndicesPair > &pairs, const std::vector< CoefficientsPair > &coefficients_pair, std::vector< IndicesPair > &filtered_indices_pairs, std::vector< CoefficientsPair > &filtered_coefficients_pairs)

virtual std::vector< IndicesCoefficientsTriple >	filterPerpendicularEdgeTriples (const std::vector< IndicesCoefficientsTriple > &triples)

virtual bool	isPerpendicularVector (const Eigen::Vector3f &a, const Eigen::Vector3f &b)

virtual jsk_recognition_utils::Line::Ptr	midLineFromCoefficientsPair (const CoefficientsPair &pair)

virtual jsk_recognition_utils::PointPair	minMaxPointOnLine (const jsk_recognition_utils::Line &line, const pcl::PointCloud< PointT >::Ptr cloud)

virtual void	onInit ()

virtual EdgeRelation	perpendicularEdgeTriple (const jsk_recognition_utils::Line &edge_a, const jsk_recognition_utils::Line &edge_b, const jsk_recognition_utils::Line &edge_c)

virtual pcl::PointIndices::Ptr	preparePointCloudForRANSAC (const jsk_recognition_utils::ConvexPolygon::Ptr convex, const CoefficientsPair &edge_coefficients_pair, const pcl::PointCloud< PointT >::Ptr cloud)

virtual void	subscribe ()

virtual std::vector< IndicesCoefficientsTriple >	tripleIndicesAndCoefficients (const std::vector< pcl::PointIndices::Ptr > &indices, const std::vector< pcl::ModelCoefficients::Ptr > &coefficients)

virtual void	unsubscribe ()

Protected Attributes
double	convex_area_threshold_

double	convex_edge_threshold_

double	min_inliers_

boost::mutex	mutex_

double	outlier_threshold_

double	parallel_edge_distance_max_threshold_

double	parallel_edge_distance_min_threshold_

ros::Publisher	pub_

ros::Publisher	pub_debug_clusers_

ros::Publisher	pub_debug_filtered_cloud_

ros::Publisher	pub_debug_marker_

ros::Publisher	pub_debug_polygons_

ros::Publisher	pub_pose_array_

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

message_filters::Subscriber< jsk_recognition_msgs::ParallelEdgeArray >	sub_edges_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

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

Detailed Description

Definition at line 189 of file edgebased_cube_finder.h.

Member Typedef Documentation

◆ Config

typedef jsk_pcl_ros::EdgebasedCubeFinderConfig jsk_pcl_ros::EdgebasedCubeFinder::Config

Definition at line 196 of file edgebased_cube_finder.h.

◆ PointT

typedef pcl::PointXYZRGB jsk_pcl_ros::EdgebasedCubeFinder::PointT

Definition at line 195 of file edgebased_cube_finder.h.

◆ SyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ParallelEdgeArray > jsk_pcl_ros::EdgebasedCubeFinder::SyncPolicy

Definition at line 194 of file edgebased_cube_finder.h.

Member Enumeration Documentation

◆ EdgeRelation

enum jsk_pcl_ros::EdgebasedCubeFinder::EdgeRelation

Enumerator
NOT_PERPENDICULAR
A_PERPENDICULAR
B_PERPENDICULAR
C_PERPENDICULAR

Definition at line 197 of file edgebased_cube_finder.h.

Constructor & Destructor Documentation

◆ ~EdgebasedCubeFinder()

jsk_pcl_ros::EdgebasedCubeFinder::~EdgebasedCubeFinder ( )

virtual

Definition at line 443 of file edgebased_cube_finder_nodelet.cpp.

Member Function Documentation

◆ combinateCoefficients()

std::vector< CoefficientsPair > jsk_pcl_ros::EdgebasedCubeFinder::combinateCoefficients ( const std::vector< pcl::ModelCoefficients::Ptr > & coefficients )

protectedvirtual

Definition at line 1257 of file edgebased_cube_finder_nodelet.cpp.

◆ combinateIndices()

std::vector< IndicesPair > jsk_pcl_ros::EdgebasedCubeFinder::combinateIndices ( const std::vector< pcl::PointIndices::Ptr > & indices )

protectedvirtual

Definition at line 1243 of file edgebased_cube_finder_nodelet.cpp.

◆ configCallback()

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

protectedvirtual

Definition at line 403 of file edgebased_cube_finder_nodelet.cpp.

◆ convexFromPairs()

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::EdgebasedCubeFinder::convexFromPairs	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const CoefficientsPair &	coefficients_pair,
		const IndicesPair &	indices_pair
	)

protectedvirtual

Definition at line 510 of file edgebased_cube_finder_nodelet.cpp.

◆ countInliers()

int jsk_pcl_ros::EdgebasedCubeFinder::countInliers	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const jsk_recognition_utils::ConvexPolygon::Ptr	convex
	)

protectedvirtual

Definition at line 365 of file edgebased_cube_finder_nodelet.cpp.

◆ cubeFromIndicesAndCoefficients()

jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::EdgebasedCubeFinder::cubeFromIndicesAndCoefficients	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const IndicesCoefficientsTriple &	indices_coefficients_triple,
		pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr	points_on_edge
	)

protectedvirtual

Definition at line 639 of file edgebased_cube_finder_nodelet.cpp.

◆ estimate()

void jsk_pcl_ros::EdgebasedCubeFinder::estimate	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &	input_edges
	)

protectedvirtual

Definition at line 750 of file edgebased_cube_finder_nodelet.cpp.

◆ estimate2()

void jsk_pcl_ros::EdgebasedCubeFinder::estimate2	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::ParallelEdgeArray::ConstPtr &	input_edges
	)

protectedvirtual

Definition at line 920 of file edgebased_cube_finder_nodelet.cpp.

◆ estimateConvexPolygon()

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::EdgebasedCubeFinder::estimateConvexPolygon	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointIndices::Ptr	inliers
	)

protectedvirtual

Definition at line 1214 of file edgebased_cube_finder_nodelet.cpp.

◆ estimateParallelPlane()

void jsk_pcl_ros::EdgebasedCubeFinder::estimateParallelPlane	(	const jsk_recognition_utils::ConvexPolygon::Ptr	convex,
		const pcl::PointCloud< PointT >::Ptr	filtered_cloud,
		pcl::PointIndices::Ptr	output_inliers,
		pcl::ModelCoefficients::Ptr	output_coefficients
	)

protectedvirtual

Definition at line 596 of file edgebased_cube_finder_nodelet.cpp.

◆ estimatePerpendicularPlane()

void jsk_pcl_ros::EdgebasedCubeFinder::estimatePerpendicularPlane	(	const jsk_recognition_utils::ConvexPolygon::Ptr	convex,
		const CoefficientsPair &	edge_coefficients,
		const pcl::PointCloud< PointT >::Ptr	filtered_cloud,
		pcl::PointIndices::Ptr	output_inliers,
		pcl::ModelCoefficients::Ptr	output_coefficients
	)

protectedvirtual

Definition at line 615 of file edgebased_cube_finder_nodelet.cpp.

◆ extractPointCloud()

pcl::PointCloud< EdgebasedCubeFinder::PointT >::Ptr jsk_pcl_ros::EdgebasedCubeFinder::extractPointCloud	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const pcl::PointIndices::Ptr	indices
	)

protectedvirtual

Definition at line 483 of file edgebased_cube_finder_nodelet.cpp.

◆ filterBasedOnConvex()

void jsk_pcl_ros::EdgebasedCubeFinder::filterBasedOnConvex	(	const pcl::PointCloud< PointT >::Ptr	cloud,
		const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	convexes,
		std::vector< int > &	output_indices
	)

protectedvirtual

Definition at line 382 of file edgebased_cube_finder_nodelet.cpp.

◆ filterPairsBasedOnParallelEdgeDistances()

void jsk_pcl_ros::EdgebasedCubeFinder::filterPairsBasedOnParallelEdgeDistances	(	const std::vector< IndicesPair > &	pairs,
		const std::vector< CoefficientsPair > &	coefficients_pair,
		std::vector< IndicesPair > &	filtered_indices_pairs,
		std::vector< CoefficientsPair > &	filtered_coefficients_pairs
	)

protectedvirtual

Definition at line 536 of file edgebased_cube_finder_nodelet.cpp.

◆ filterPerpendicularEdgeTriples()

std::vector< IndicesCoefficientsTriple > jsk_pcl_ros::EdgebasedCubeFinder::filterPerpendicularEdgeTriples ( const std::vector< IndicesCoefficientsTriple > & triples )

protectedvirtual

Definition at line 865 of file edgebased_cube_finder_nodelet.cpp.

◆ isPerpendicularVector()

bool jsk_pcl_ros::EdgebasedCubeFinder::isPerpendicularVector	(	const Eigen::Vector3f &	a,
		const Eigen::Vector3f &	b
	)

protectedvirtual

Definition at line 812 of file edgebased_cube_finder_nodelet.cpp.

◆ midLineFromCoefficientsPair()

jsk_recognition_utils::Line::Ptr jsk_pcl_ros::EdgebasedCubeFinder::midLineFromCoefficientsPair ( const CoefficientsPair & pair )

protectedvirtual

Definition at line 473 of file edgebased_cube_finder_nodelet.cpp.

◆ minMaxPointOnLine()

jsk_recognition_utils::PointPair jsk_pcl_ros::EdgebasedCubeFinder::minMaxPointOnLine	(	const jsk_recognition_utils::Line &	line,
		const pcl::PointCloud< PointT >::Ptr	cloud
	)

protectedvirtual

Definition at line 495 of file edgebased_cube_finder_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::EdgebasedCubeFinder::onInit ( )

protectedvirtual

Definition at line 414 of file edgebased_cube_finder_nodelet.cpp.

◆ perpendicularEdgeTriple()

EdgebasedCubeFinder::EdgeRelation jsk_pcl_ros::EdgebasedCubeFinder::perpendicularEdgeTriple	(	const jsk_recognition_utils::Line &	edge_a,
		const jsk_recognition_utils::Line &	edge_b,
		const jsk_recognition_utils::Line &	edge_c
	)

protectedvirtual

Definition at line 832 of file edgebased_cube_finder_nodelet.cpp.

◆ preparePointCloudForRANSAC()

pcl::PointIndices::Ptr jsk_pcl_ros::EdgebasedCubeFinder::preparePointCloudForRANSAC	(	const jsk_recognition_utils::ConvexPolygon::Ptr	convex,
		const CoefficientsPair &	edge_coefficients_pair,
		const pcl::PointCloud< PointT >::Ptr	cloud
	)

protectedvirtual

Definition at line 571 of file edgebased_cube_finder_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::EdgebasedCubeFinder::subscribe ( )

protectedvirtual

Definition at line 454 of file edgebased_cube_finder_nodelet.cpp.

◆ tripleIndicesAndCoefficients()

std::vector< IndicesCoefficientsTriple > jsk_pcl_ros::EdgebasedCubeFinder::tripleIndicesAndCoefficients	(	const std::vector< pcl::PointIndices::Ptr > &	indices,
		const std::vector< pcl::ModelCoefficients::Ptr > &	coefficients
	)

protectedvirtual

Definition at line 1179 of file edgebased_cube_finder_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::EdgebasedCubeFinder::unsubscribe ( )

protectedvirtual

Definition at line 467 of file edgebased_cube_finder_nodelet.cpp.

Member Data Documentation

◆ convex_area_threshold_

double jsk_pcl_ros::EdgebasedCubeFinder::convex_area_threshold_

protected

Definition at line 331 of file edgebased_cube_finder.h.

◆ convex_edge_threshold_

double jsk_pcl_ros::EdgebasedCubeFinder::convex_edge_threshold_

protected

Definition at line 332 of file edgebased_cube_finder.h.

◆ min_inliers_

double jsk_pcl_ros::EdgebasedCubeFinder::min_inliers_

protected

Definition at line 330 of file edgebased_cube_finder.h.

◆ mutex_

boost::mutex jsk_pcl_ros::EdgebasedCubeFinder::mutex_

protected

Definition at line 325 of file edgebased_cube_finder.h.

◆ outlier_threshold_

double jsk_pcl_ros::EdgebasedCubeFinder::outlier_threshold_

protected

Definition at line 329 of file edgebased_cube_finder.h.

◆ parallel_edge_distance_max_threshold_

double jsk_pcl_ros::EdgebasedCubeFinder::parallel_edge_distance_max_threshold_

protected

Definition at line 333 of file edgebased_cube_finder.h.

◆ parallel_edge_distance_min_threshold_

double jsk_pcl_ros::EdgebasedCubeFinder::parallel_edge_distance_min_threshold_

protected

Definition at line 333 of file edgebased_cube_finder.h.

◆ pub_

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_

protected

Definition at line 321 of file edgebased_cube_finder.h.

◆ pub_debug_clusers_

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_clusers_

protected

Definition at line 324 of file edgebased_cube_finder.h.

◆ pub_debug_filtered_cloud_

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_filtered_cloud_

protected

Definition at line 323 of file edgebased_cube_finder.h.

◆ pub_debug_marker_

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_marker_

protected

Definition at line 323 of file edgebased_cube_finder.h.

◆ pub_debug_polygons_

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_debug_polygons_

protected

Definition at line 324 of file edgebased_cube_finder.h.

◆ pub_pose_array_

ros::Publisher jsk_pcl_ros::EdgebasedCubeFinder::pub_pose_array_

protected

Definition at line 322 of file edgebased_cube_finder.h.

◆ srv_

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

protected

Definition at line 317 of file edgebased_cube_finder.h.

◆ sub_edges_

message_filters::Subscriber<jsk_recognition_msgs::ParallelEdgeArray> jsk_pcl_ros::EdgebasedCubeFinder::sub_edges_

protected

Definition at line 320 of file edgebased_cube_finder.h.

◆ sub_input_

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

protected

Definition at line 319 of file edgebased_cube_finder.h.

◆ sync_

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

protected

Definition at line 318 of file edgebased_cube_finder.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

◆ Config

◆ PointT

◆ SyncPolicy

Member Enumeration Documentation

◆ EdgeRelation

Constructor & Destructor Documentation

◆ ~EdgebasedCubeFinder()

Member Function Documentation

◆ combinateCoefficients()

◆ combinateIndices()

◆ configCallback()

◆ convexFromPairs()

◆ countInliers()

◆ cubeFromIndicesAndCoefficients()

◆ estimate()

◆ estimate2()

◆ estimateConvexPolygon()

◆ estimateParallelPlane()

◆ estimatePerpendicularPlane()

◆ extractPointCloud()

◆ filterBasedOnConvex()

◆ filterPairsBasedOnParallelEdgeDistances()

◆ filterPerpendicularEdgeTriples()

◆ isPerpendicularVector()

◆ midLineFromCoefficientsPair()

◆ minMaxPointOnLine()

◆ onInit()

◆ perpendicularEdgeTriple()

◆ preparePointCloudForRANSAC()

◆ subscribe()

◆ tripleIndicesAndCoefficients()

◆ unsubscribe()

Member Data Documentation

◆ convex_area_threshold_

◆ convex_edge_threshold_

◆ min_inliers_

◆ mutex_

◆ outlier_threshold_

◆ parallel_edge_distance_max_threshold_

◆ parallel_edge_distance_min_threshold_

◆ pub_

◆ pub_debug_clusers_

◆ pub_debug_filtered_cloud_

◆ pub_debug_marker_

◆ pub_debug_polygons_

◆ pub_pose_array_

◆ srv_

◆ sub_edges_

◆ sub_input_

◆ sync_