Nodelet implementation of jsk_pcl/FeatureRegistration. More...

#include <feature_registration.h>

Inheritance diagram for jsk_pcl_ros::FeatureRegistration:

Public Types
typedef FeatureRegistrationConfig	Config

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	SyncPolicy

Public Member Functions
	FeatureRegistration ()

virtual	~FeatureRegistration ()

Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)

virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &feature_msg)

virtual void	onInit ()

virtual void	referenceCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &feature_msg)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Attributes
int	correspondence_randomness_

double	inlier_fraction_

double	max_correspondence_distance_

int	max_iterations_

boost::mutex	mutex_

ros::Publisher	pub_cloud_

ros::Publisher	pub_pose_

pcl::PointCloud< pcl::PointNormal >::Ptr	reference_cloud_

pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	reference_feature_

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

double	similarity_threshold_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_feature_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_reference_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_reference_feature_

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

double	transformation_epsilon_

Detailed Description

Nodelet implementation of jsk_pcl/FeatureRegistration.

Definition at line 93 of file feature_registration.h.

Member Typedef Documentation

◆ Config

typedef FeatureRegistrationConfig jsk_pcl_ros::FeatureRegistration::Config

Definition at line 128 of file feature_registration.h.

◆ SyncPolicy

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::SyncPolicy

Definition at line 131 of file feature_registration.h.

Constructor & Destructor Documentation

◆ FeatureRegistration()

jsk_pcl_ros::FeatureRegistration::FeatureRegistration ( )

inline

Definition at line 132 of file feature_registration.h.

◆ ~FeatureRegistration()

jsk_pcl_ros::FeatureRegistration::~FeatureRegistration ( )

virtual

Definition at line 69 of file feature_registration_nodelet.cpp.

Member Function Documentation

◆ configCallback()

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

protectedvirtual

Definition at line 110 of file feature_registration_nodelet.cpp.

◆ estimate()

void jsk_pcl_ros::FeatureRegistration::estimate	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	feature_msg
	)

protectedvirtual

Definition at line 122 of file feature_registration_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::FeatureRegistration::onInit ( )

protectedvirtual

Definition at line 46 of file feature_registration_nodelet.cpp.

◆ referenceCallback()

void jsk_pcl_ros::FeatureRegistration::referenceCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	feature_msg
	)

protectedvirtual

Definition at line 98 of file feature_registration_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::FeatureRegistration::subscribe ( )

protectedvirtual

Definition at line 81 of file feature_registration_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::FeatureRegistration::unsubscribe ( )

protectedvirtual

Definition at line 92 of file feature_registration_nodelet.cpp.

Member Data Documentation

◆ correspondence_randomness_

int jsk_pcl_ros::FeatureRegistration::correspondence_randomness_

protected

Definition at line 167 of file feature_registration.h.

◆ inlier_fraction_

double jsk_pcl_ros::FeatureRegistration::inlier_fraction_

protected

Definition at line 170 of file feature_registration.h.

◆ max_correspondence_distance_

double jsk_pcl_ros::FeatureRegistration::max_correspondence_distance_

protected

Definition at line 169 of file feature_registration.h.

◆ max_iterations_

int jsk_pcl_ros::FeatureRegistration::max_iterations_

protected

Definition at line 166 of file feature_registration.h.

◆ mutex_

boost::mutex jsk_pcl_ros::FeatureRegistration::mutex_

protected

Definition at line 149 of file feature_registration.h.

◆ pub_cloud_

ros::Publisher jsk_pcl_ros::FeatureRegistration::pub_cloud_

protected

Definition at line 151 of file feature_registration.h.

◆ pub_pose_

ros::Publisher jsk_pcl_ros::FeatureRegistration::pub_pose_

protected

Definition at line 150 of file feature_registration.h.

◆ reference_cloud_

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::FeatureRegistration::reference_cloud_

protected

Definition at line 163 of file feature_registration.h.

◆ reference_feature_

pcl::PointCloud<pcl::FPFHSignature33>::Ptr jsk_pcl_ros::FeatureRegistration::reference_feature_

protected

Definition at line 164 of file feature_registration.h.

◆ reference_sync_

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::FeatureRegistration::reference_sync_

protected

Definition at line 160 of file feature_registration.h.

◆ similarity_threshold_

double jsk_pcl_ros::FeatureRegistration::similarity_threshold_

protected

Definition at line 168 of file feature_registration.h.

◆ srv_

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

protected

Definition at line 152 of file feature_registration.h.

◆ sub_input_

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

protected

Definition at line 154 of file feature_registration.h.

◆ sub_input_feature_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::sub_input_feature_

protected

Definition at line 155 of file feature_registration.h.

◆ sub_input_reference_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::sub_input_reference_

protected

Definition at line 158 of file feature_registration.h.

◆ sub_input_reference_feature_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::sub_input_reference_feature_

protected

Definition at line 159 of file feature_registration.h.

◆ sync_

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

protected

Definition at line 156 of file feature_registration.h.

◆ transformation_epsilon_

double jsk_pcl_ros::FeatureRegistration::transformation_epsilon_

protected

Definition at line 171 of file feature_registration.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

◆ SyncPolicy

Constructor & Destructor Documentation

◆ FeatureRegistration()

◆ ~FeatureRegistration()

Member Function Documentation

◆ configCallback()

◆ estimate()

◆ onInit()

◆ referenceCallback()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ correspondence_randomness_

◆ inlier_fraction_

◆ max_correspondence_distance_

◆ max_iterations_

◆ mutex_

◆ pub_cloud_

◆ pub_pose_

◆ reference_cloud_

◆ reference_feature_

◆ reference_sync_

◆ similarity_threshold_

◆ srv_

◆ sub_input_

◆ sub_input_feature_

◆ sub_input_reference_

◆ sub_input_reference_feature_

◆ sync_

◆ transformation_epsilon_