#include <ppf_registration.h>

Inheritance diagram for jsk_pcl_ros::PPFRegistration:

Public Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray >	ArrayApproximateSyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray >	ArraySyncPolicy

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

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	CloudSyncPolicy

typedef jsk_pcl_ros::PPFRegistrationConfig	Config

Public Member Functions
	PPFRegistration ()

virtual	~PPFRegistration ()

Protected Member Functions
virtual void	ArrayRegistration (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const jsk_recognition_msgs::PointsArray::ConstPtr &input_reference_points_array)

virtual pcl::PointCloud< pcl::PointNormal >::Ptr	calculateNormals (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud)

virtual void	CloudRegistration (const sensor_msgs::PointCloud2::ConstPtr &input_cloud, const sensor_msgs::PointCloud2::ConstPtr &input_reference_cloud)

virtual void	configCallback (Config &config, uint32_t level)

virtual void	onInit ()

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Attributes
bool	approximate_sync_

boost::shared_ptr< message_filters::Synchronizer< ArrayApproximateSyncPolicy > >	array_async_

boost::shared_ptr< message_filters::Synchronizer< ArraySyncPolicy > >	array_sync_

boost::shared_ptr< message_filters::Synchronizer< CloudApproximateSyncPolicy > >	cloud_async_

boost::shared_ptr< message_filters::Synchronizer< CloudSyncPolicy > >	cloud_sync_

pcl::PointCloud< pcl::PointNormal >::Ptr	cloud_with_normals

boost::mutex	mutex_

double	position_clustering_threshold_

pcl::PPFEstimation< pcl::PointNormal, pcl::PointNormal, pcl::PPFSignature >	ppf_estimator

pcl::PPFRegistration< pcl::PointNormal, pcl::PointNormal >	ppf_registration

ros::Publisher	pub_cloud_

ros::Publisher	pub_points_array_

ros::Publisher	pub_pose_array_

ros::Publisher	pub_pose_stamped_

int	queue_size_

pcl::PointCloud< pcl::PointNormal >::Ptr	reference_cloud_with_normals

double	rotation_clustering_threshold_

int	sampling_rate_

double	search_radius_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

message_filters::Subscriber< jsk_recognition_msgs::PointsArray >	sub_reference_array_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_reference_cloud_

bool	use_array_

Detailed Description

Definition at line 93 of file ppf_registration.h.

Member Typedef Documentation

◆ ArrayApproximateSyncPolicy

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::ArrayApproximateSyncPolicy

Definition at line 133 of file ppf_registration.h.

◆ ArraySyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::ArraySyncPolicy

Definition at line 130 of file ppf_registration.h.

◆ CloudApproximateSyncPolicy

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::CloudApproximateSyncPolicy

Definition at line 139 of file ppf_registration.h.

◆ CloudSyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::CloudSyncPolicy

Definition at line 136 of file ppf_registration.h.

◆ Config

typedef jsk_pcl_ros::PPFRegistrationConfig jsk_pcl_ros::PPFRegistration::Config

Definition at line 140 of file ppf_registration.h.

Constructor & Destructor Documentation

◆ PPFRegistration()

jsk_pcl_ros::PPFRegistration::PPFRegistration ( )

inline

Definition at line 141 of file ppf_registration.h.

◆ ~PPFRegistration()

jsk_pcl_ros::PPFRegistration::~PPFRegistration ( )

virtual

Definition at line 60 of file ppf_registration_nodelet.cpp.

Member Function Documentation

◆ ArrayRegistration()

void jsk_pcl_ros::PPFRegistration::ArrayRegistration	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const jsk_recognition_msgs::PointsArray::ConstPtr &	input_reference_points_array
	)

protectedvirtual

Definition at line 212 of file ppf_registration_nodelet.cpp.

◆ calculateNormals()

pcl::PointCloud< pcl::PointNormal >::Ptr jsk_pcl_ros::PPFRegistration::calculateNormals ( pcl::PointCloud< pcl::PointXYZ >::Ptr cloud )

protectedvirtual

Definition at line 118 of file ppf_registration_nodelet.cpp.

◆ CloudRegistration()

void jsk_pcl_ros::PPFRegistration::CloudRegistration	(	const sensor_msgs::PointCloud2::ConstPtr &	input_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	input_reference_cloud
	)

protectedvirtual

Definition at line 147 of file ppf_registration_nodelet.cpp.

◆ configCallback()

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

protectedvirtual

Definition at line 136 of file ppf_registration_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::PPFRegistration::onInit ( )

protectedvirtual

Definition at line 45 of file ppf_registration_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::PPFRegistration::subscribe ( )

protectedvirtual

Definition at line 74 of file ppf_registration_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::PPFRegistration::unsubscribe ( )

protectedvirtual

Definition at line 111 of file ppf_registration_nodelet.cpp.

Member Data Documentation

◆ approximate_sync_

bool jsk_pcl_ros::PPFRegistration::approximate_sync_

protected

Definition at line 164 of file ppf_registration.h.

◆ array_async_

boost::shared_ptr<message_filters::Synchronizer<ArrayApproximateSyncPolicy> > jsk_pcl_ros::PPFRegistration::array_async_

protected

Definition at line 161 of file ppf_registration.h.

◆ array_sync_

boost::shared_ptr<message_filters::Synchronizer<ArraySyncPolicy> > jsk_pcl_ros::PPFRegistration::array_sync_

protected

Definition at line 160 of file ppf_registration.h.

◆ cloud_async_

boost::shared_ptr<message_filters::Synchronizer<CloudApproximateSyncPolicy> > jsk_pcl_ros::PPFRegistration::cloud_async_

protected

Definition at line 163 of file ppf_registration.h.

◆ cloud_sync_

boost::shared_ptr<message_filters::Synchronizer<CloudSyncPolicy> > jsk_pcl_ros::PPFRegistration::cloud_sync_

protected

Definition at line 162 of file ppf_registration.h.

◆ cloud_with_normals

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::PPFRegistration::cloud_with_normals

protected

Definition at line 176 of file ppf_registration.h.

◆ mutex_

boost::mutex jsk_pcl_ros::PPFRegistration::mutex_

protected

Definition at line 159 of file ppf_registration.h.

◆ position_clustering_threshold_

double jsk_pcl_ros::PPFRegistration::position_clustering_threshold_

protected

Definition at line 169 of file ppf_registration.h.

◆ ppf_estimator

pcl::PPFEstimation<pcl::PointNormal, pcl::PointNormal, pcl::PPFSignature> jsk_pcl_ros::PPFRegistration::ppf_estimator

protected

Definition at line 178 of file ppf_registration.h.

◆ ppf_registration

pcl::PPFRegistration<pcl::PointNormal, pcl::PointNormal> jsk_pcl_ros::PPFRegistration::ppf_registration

protected

Definition at line 179 of file ppf_registration.h.

◆ pub_cloud_

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_cloud_

protected

Definition at line 174 of file ppf_registration.h.

◆ pub_points_array_

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_points_array_

protected

Definition at line 172 of file ppf_registration.h.

◆ pub_pose_array_

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_pose_array_

protected

Definition at line 171 of file ppf_registration.h.

◆ pub_pose_stamped_

ros::Publisher jsk_pcl_ros::PPFRegistration::pub_pose_stamped_

protected

Definition at line 173 of file ppf_registration.h.

◆ queue_size_

int jsk_pcl_ros::PPFRegistration::queue_size_

protected

Definition at line 165 of file ppf_registration.h.

◆ reference_cloud_with_normals

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::PPFRegistration::reference_cloud_with_normals

protected

Definition at line 177 of file ppf_registration.h.

◆ rotation_clustering_threshold_

double jsk_pcl_ros::PPFRegistration::rotation_clustering_threshold_

protected

Definition at line 170 of file ppf_registration.h.

◆ sampling_rate_

int jsk_pcl_ros::PPFRegistration::sampling_rate_

protected

Definition at line 167 of file ppf_registration.h.

◆ search_radius_

double jsk_pcl_ros::PPFRegistration::search_radius_

protected

Definition at line 166 of file ppf_registration.h.

◆ srv_

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

protected

Definition at line 155 of file ppf_registration.h.

◆ sub_input_

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

protected

Definition at line 156 of file ppf_registration.h.

◆ sub_reference_array_

message_filters::Subscriber<jsk_recognition_msgs::PointsArray> jsk_pcl_ros::PPFRegistration::sub_reference_array_

protected

Definition at line 158 of file ppf_registration.h.

◆ sub_reference_cloud_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::PPFRegistration::sub_reference_cloud_

protected

Definition at line 157 of file ppf_registration.h.

◆ use_array_

bool jsk_pcl_ros::PPFRegistration::use_array_

protected

Definition at line 168 of file ppf_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

◆ ArrayApproximateSyncPolicy

◆ ArraySyncPolicy

◆ CloudApproximateSyncPolicy

◆ CloudSyncPolicy

◆ Config

Constructor & Destructor Documentation

◆ PPFRegistration()

◆ ~PPFRegistration()

Member Function Documentation

◆ ArrayRegistration()

◆ calculateNormals()

◆ CloudRegistration()

◆ configCallback()

◆ onInit()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ approximate_sync_

◆ array_async_

◆ array_sync_

◆ cloud_async_

◆ cloud_sync_

◆ cloud_with_normals

◆ mutex_

◆ position_clustering_threshold_

◆ ppf_estimator

◆ ppf_registration

◆ pub_cloud_

◆ pub_points_array_

◆ pub_pose_array_

◆ pub_pose_stamped_

◆ queue_size_

◆ reference_cloud_with_normals

◆ rotation_clustering_threshold_

◆ sampling_rate_

◆ search_radius_

◆ srv_

◆ sub_input_

◆ sub_reference_array_

◆ sub_reference_cloud_

◆ use_array_