#include <primitive_shape_classifier.h>

Inheritance diagram for jsk_pcl_ros::PrimitiveShapeClassifier:

Public Types
typedef PrimitiveShapeClassifierConfig	Config

typedef pcl::PointXYZRGBA	PointT

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

Public Member Functions
	PrimitiveShapeClassifier ()

virtual	~PrimitiveShapeClassifier ()

Protected Member Functions
virtual bool	checkFrameId (const sensor_msgs::PointCloud2::ConstPtr &ros_cloud, const sensor_msgs::PointCloud2::ConstPtr &ros_normal, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &ros_indices, const jsk_recognition_msgs::PolygonArray::ConstPtr &ros_polygons)

virtual void	configCallback (Config &config, uint32_t level)

virtual bool	estimate (const pcl::PointCloud< PointT >::Ptr &cloud, const pcl::PointCloud< pcl::Normal >::Ptr &normal, const pcl::ModelCoefficients::Ptr &plane, pcl::PointIndices::Ptr &boundary_indices, pcl::PointCloud< PointT >::Ptr &projected_cloud, float &circle_likelihood, float &box_likelihood)

virtual bool	getSupportPlane (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< jsk_recognition_utils::Polygon::Ptr > &polygons, pcl::ModelCoefficients::Ptr &coeff)

virtual void	onInit ()

virtual void	process (const sensor_msgs::PointCloud2::ConstPtr &ros_cloud, const sensor_msgs::PointCloud2::ConstPtr &ros_normal, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &ros_indices, const jsk_recognition_msgs::PolygonArray::ConstPtr &ros_polygons)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Attributes
double	box_threshold_

double	circle_threshold_

int	min_points_num_

boost::mutex	mutex_

ros::Publisher	pub_boundary_indices_

ros::Publisher	pub_class_

ros::Publisher	pub_projected_cloud_

int	queue_size_

double	sac_distance_threshold_

int	sac_max_iterations_

double	sac_radius_limit_max_

double	sac_radius_limit_min_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_indices_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_normal_

message_filters::Subscriber< jsk_recognition_msgs::PolygonArray >	sub_polygons_

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

Detailed Description

Definition at line 94 of file primitive_shape_classifier.h.

Member Typedef Documentation

◆ Config

typedef PrimitiveShapeClassifierConfig jsk_pcl_ros::PrimitiveShapeClassifier::Config

Definition at line 133 of file primitive_shape_classifier.h.

◆ PointT

typedef pcl::PointXYZRGBA jsk_pcl_ros::PrimitiveShapeClassifier::PointT

Definition at line 134 of file primitive_shape_classifier.h.

◆ SyncPolicy

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray> jsk_pcl_ros::PrimitiveShapeClassifier::SyncPolicy

Definition at line 132 of file primitive_shape_classifier.h.

Constructor & Destructor Documentation

◆ PrimitiveShapeClassifier()

jsk_pcl_ros::PrimitiveShapeClassifier::PrimitiveShapeClassifier ( )

inline

Definition at line 136 of file primitive_shape_classifier.h.

◆ ~PrimitiveShapeClassifier()

jsk_pcl_ros::PrimitiveShapeClassifier::~PrimitiveShapeClassifier ( )

virtual

Definition at line 104 of file primitive_shape_classifier_nodelet.cpp.

Member Function Documentation

◆ checkFrameId()

bool jsk_pcl_ros::PrimitiveShapeClassifier::checkFrameId	(	const sensor_msgs::PointCloud2::ConstPtr &	ros_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	ros_normal,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	ros_indices,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	ros_polygons
	)

protectedvirtual

Definition at line 163 of file primitive_shape_classifier_nodelet.cpp.

◆ configCallback()

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

protectedvirtual

Definition at line 135 of file primitive_shape_classifier_nodelet.cpp.

◆ estimate()

bool jsk_pcl_ros::PrimitiveShapeClassifier::estimate	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::PointCloud< pcl::Normal >::Ptr &	normal,
		const pcl::ModelCoefficients::Ptr &	plane,
		pcl::PointIndices::Ptr &	boundary_indices,
		pcl::PointCloud< PointT >::Ptr &	projected_cloud,
		float &	circle_likelihood,
		float &	box_likelihood
	)

protectedvirtual

Definition at line 295 of file primitive_shape_classifier_nodelet.cpp.

◆ getSupportPlane()

bool jsk_pcl_ros::PrimitiveShapeClassifier::getSupportPlane	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< jsk_recognition_utils::Polygon::Ptr > &	polygons,
		pcl::ModelCoefficients::Ptr &	coeff
	)

protectedvirtual

Definition at line 376 of file primitive_shape_classifier_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::PrimitiveShapeClassifier::onInit ( )

protectedvirtual

Definition at line 86 of file primitive_shape_classifier_nodelet.cpp.

◆ process()

void jsk_pcl_ros::PrimitiveShapeClassifier::process	(	const sensor_msgs::PointCloud2::ConstPtr &	ros_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	ros_normal,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	ros_indices,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	ros_polygons
	)