jsk_pcl_ros: jsk_pcl_ros::IncrementalModelRegistration Class Reference

#include <incremental_model_registration.h>

Inheritance diagram for jsk_pcl_ros::IncrementalModelRegistration:

Inheritance graph

[legend]

Public Types
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, pcl_msgs::PointIndices, geometry_msgs::PoseStamped >	SyncPolicy

Public Member Functions
	IncrementalModelRegistration ()

virtual	~IncrementalModelRegistration ()

Protected Member Functions
virtual void	callICP (pcl::PointCloud< pcl::PointXYZRGB >::Ptr reference, pcl::PointCloud< pcl::PointXYZRGB >::Ptr target, Eigen::Affine3f &output_transform)

virtual void	newsampleCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const pcl_msgs::PointIndices::ConstPtr &indices_msg, const geometry_msgs::PoseStamped::ConstPtr &pose_msg)

virtual void	onInit ()

virtual bool	startRegistration (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

virtual void	subscribe ()

virtual void	transformPointCloudRepsectedToPose (pcl::PointCloud< pcl::PointXYZRGB >::Ptr input, pcl::PointCloud< pcl::PointXYZRGB >::Ptr output, const geometry_msgs::PoseStamped::ConstPtr &pose_msg)

virtual void	unsubscribe ()

virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Attributes
pcl::PointCloud< pcl::PointXYZRGB >	all_cloud_

std::string	frame_id_

boost::mutex	mutex_

Eigen::Affine3f	origin_

ros::Publisher	pub_cloud_non_registered_

ros::Publisher	pub_registered_

std::vector< CapturedSamplePointCloud::Ptr >	samples_

ros::ServiceServer	start_registration_srv_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< pcl_msgs::PointIndices >	sub_indices_

message_filters::Subscriber< geometry_msgs::PoseStamped >	sub_pose_

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

boost::shared_ptr< pcl::visualization::PCLVisualizer >	viewer_

Detailed Description

Definition at line 108 of file incremental_model_registration.h.

Member Typedef Documentation

◆ SyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, pcl_msgs::PointIndices, geometry_msgs::PoseStamped > jsk_pcl_ros::IncrementalModelRegistration::SyncPolicy

Definition at line 116 of file incremental_model_registration.h.

Constructor & Destructor Documentation

◆ IncrementalModelRegistration()

jsk_pcl_ros::IncrementalModelRegistration::IncrementalModelRegistration ( )

inline

Definition at line 111 of file incremental_model_registration.h.

◆ ~IncrementalModelRegistration()

jsk_pcl_ros::IncrementalModelRegistration::~IncrementalModelRegistration ( )

virtual

Definition at line 117 of file incremental_model_registration_nodelet.cpp.

Member Function Documentation

◆ callICP()

void jsk_pcl_ros::IncrementalModelRegistration::callICP	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	reference,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	target,
		Eigen::Affine3f &	output_transform
	)

protectedvirtual

Definition at line 185 of file incremental_model_registration_nodelet.cpp.

◆ newsampleCallback()

void jsk_pcl_ros::IncrementalModelRegistration::newsampleCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const pcl_msgs::PointIndices::ConstPtr &	indices_msg,
		const geometry_msgs::PoseStamped::ConstPtr &	pose_msg
	)

protectedvirtual

Definition at line 141 of file incremental_model_registration_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::IncrementalModelRegistration::onInit ( )

protectedvirtual

Definition at line 93 of file incremental_model_registration_nodelet.cpp.

◆ startRegistration()

bool jsk_pcl_ros::IncrementalModelRegistration::startRegistration	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protectedvirtual

Definition at line 206 of file incremental_model_registration_nodelet.cpp.

◆ subscribe()

virtual void jsk_pcl_ros::IncrementalModelRegistration::subscribe ( )

inlineprotectedvirtual

Definition at line 122 of file incremental_model_registration.h.

◆ transformPointCloudRepsectedToPose()

void jsk_pcl_ros::IncrementalModelRegistration::transformPointCloudRepsectedToPose	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	input,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	output,
		const geometry_msgs::PoseStamped::ConstPtr &	pose_msg
	)

protectedvirtual

Definition at line 128 of file incremental_model_registration_nodelet.cpp.

◆ unsubscribe()

virtual void jsk_pcl_ros::IncrementalModelRegistration::unsubscribe ( )

inlineprotectedvirtual

Definition at line 123 of file incremental_model_registration.h.

◆ updateDiagnostic()

virtual void jsk_pcl_ros::IncrementalModelRegistration::updateDiagnostic ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inlineprotectedvirtual

Definition at line 124 of file incremental_model_registration.h.

Member Data Documentation

◆ all_cloud_

pcl::PointCloud<pcl::PointXYZRGB> jsk_pcl_ros::IncrementalModelRegistration::all_cloud_

protected

Definition at line 159 of file incremental_model_registration.h.

◆ frame_id_

std::string jsk_pcl_ros::IncrementalModelRegistration::frame_id_

protected

Definition at line 160 of file incremental_model_registration.h.

◆ mutex_

boost::mutex jsk_pcl_ros::IncrementalModelRegistration::mutex_

protected

Definition at line 148 of file incremental_model_registration.h.

◆ origin_

Eigen::Affine3f jsk_pcl_ros::IncrementalModelRegistration::origin_

protected

Definition at line 158 of file incremental_model_registration.h.

◆ pub_cloud_non_registered_

ros::Publisher jsk_pcl_ros::IncrementalModelRegistration::pub_cloud_non_registered_

protected

Definition at line 150 of file incremental_model_registration.h.

◆ pub_registered_

ros::Publisher jsk_pcl_ros::IncrementalModelRegistration::pub_registered_

protected

Definition at line 151 of file incremental_model_registration.h.

◆ samples_

std::vector<CapturedSamplePointCloud::Ptr> jsk_pcl_ros::IncrementalModelRegistration::samples_

protected

Definition at line 157 of file incremental_model_registration.h.

◆ start_registration_srv_

ros::ServiceServer jsk_pcl_ros::IncrementalModelRegistration::start_registration_srv_

protected

Definition at line 149 of file incremental_model_registration.h.

◆ sub_cloud_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::IncrementalModelRegistration::sub_cloud_

protected

Definition at line 145 of file incremental_model_registration.h.

◆ sub_indices_

message_filters::Subscriber<pcl_msgs::PointIndices> jsk_pcl_ros::IncrementalModelRegistration::sub_indices_

protected

Definition at line 146 of file incremental_model_registration.h.

◆ sub_pose_

message_filters::Subscriber<geometry_msgs::PoseStamped> jsk_pcl_ros::IncrementalModelRegistration::sub_pose_

protected

Definition at line 147 of file incremental_model_registration.h.

◆ sync_

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

protected

Definition at line 144 of file incremental_model_registration.h.

◆ viewer_

boost::shared_ptr<pcl::visualization::PCLVisualizer> jsk_pcl_ros::IncrementalModelRegistration::viewer_

protected

Definition at line 152 of file incremental_model_registration.h.

The documentation for this class was generated from the following files:

jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jan 7 2025 04:05:46