Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
jsk_pcl_ros_utils::PlaneReasoner Class Reference

#include <plane_reasoner.h>

Inheritance diagram for jsk_pcl_ros_utils::PlaneReasoner:
Inheritance graph
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Public Types

typedef jsk_pcl_ros_utils::PlaneReasonerConfig Config
 
typedef pcl::PointXYZRGB PointT
 
typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray, jsk_recognition_msgs::PolygonArray > SyncPolicy
 

Public Member Functions

 PlaneReasoner ()
 
virtual ~PlaneReasoner ()
 

Protected Member Functions

virtual void configCallback (Config &config, uint32_t level)
 
virtual std::vector< PlaneInfoContainer > filterHorizontalPlanes (std::vector< PlaneInfoContainer > &infos)
 
virtual std::vector< PlaneInfoContainer > filterPlanesAroundAngle (double reference_angle, double thrshold, std::vector< PlaneInfoContainer > &infos)
 
virtual std::vector< PlaneInfoContainer > filterVerticalPlanes (std::vector< PlaneInfoContainer > &infos)
 
virtual void onInit ()
 
virtual std::vector< PlaneInfoContainer > packInfo (std::vector< pcl::PointIndices::Ptr > &inliers, std::vector< pcl::ModelCoefficients::Ptr > &coefficients, std::vector< jsk_recognition_utils::Plane::Ptr > &planes, std::vector< geometry_msgs::PolygonStamped > &polygons)
 
virtual void publishPlaneInfo (std::vector< PlaneInfoContainer > &containers, const std_msgs::Header &header, pcl::PointCloud< PointT >::Ptr cloud, ros::Publisher &pub_inlier, ros::Publisher &pub_coefficients, ros::Publisher &pub_polygons)
 
virtual void reason (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &inliers_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygons_msg)
 
virtual void subscribe ()
 
virtual void unsubscribe ()
 

Protected Attributes

std::string global_frame_id_
 
double horizontal_angular_threshold_
 
boost::mutex mutex_
 
ros::Publisher pub_horizontal_coefficients_
 
ros::Publisher pub_horizontal_inliers_
 
ros::Publisher pub_horizontal_polygons_
 
ros::Publisher pub_vertical_coefficients_
 
ros::Publisher pub_vertical_inliers_
 
ros::Publisher pub_vertical_polygons_
 
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
 
message_filters::Subscriber< jsk_recognition_msgs::ModelCoefficientsArray > sub_coefficients_
 
message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices > sub_inliers_
 
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_input_
 
message_filters::Subscriber< jsk_recognition_msgs::PolygonArray > sub_polygons_
 
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_
 
tf::TransformListener * tf_listener_
 
double vertical_angular_threshold_
 

Detailed Description

Definition at line 95 of file plane_reasoner.h.

Member Typedef Documentation

◆ Config

typedef jsk_pcl_ros_utils::PlaneReasonerConfig jsk_pcl_ros_utils::PlaneReasoner::Config

Definition at line 106 of file plane_reasoner.h.

◆ PointT

typedef pcl::PointXYZRGB jsk_pcl_ros_utils::PlaneReasoner::PointT

Definition at line 107 of file plane_reasoner.h.

◆ SyncPolicy

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

Definition at line 105 of file plane_reasoner.h.

Constructor & Destructor Documentation

◆ PlaneReasoner()

jsk_pcl_ros_utils::PlaneReasoner::PlaneReasoner ( )
inline

Definition at line 110 of file plane_reasoner.h.

◆ ~PlaneReasoner()

jsk_pcl_ros_utils::PlaneReasoner::~PlaneReasoner ( )
virtual

Definition at line 110 of file plane_reasoner_nodelet.cpp.

Member Function Documentation

◆ configCallback()

void jsk_pcl_ros_utils::PlaneReasoner::configCallback ( Config &  config,
uint32_t  level 
)
protectedvirtual

Definition at line 146 of file plane_reasoner_nodelet.cpp.

◆ filterHorizontalPlanes()

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterHorizontalPlanes ( std::vector< PlaneInfoContainer > &  infos)
protectedvirtual

Definition at line 272 of file plane_reasoner_nodelet.cpp.

◆ filterPlanesAroundAngle()

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterPlanesAroundAngle ( double  reference_angle,
double  thrshold,
std::vector< PlaneInfoContainer > &  infos 
)
protectedvirtual

Definition at line 235 of file plane_reasoner_nodelet.cpp.

◆ filterVerticalPlanes()

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::filterVerticalPlanes ( std::vector< PlaneInfoContainer > &  infos)
protectedvirtual

Definition at line 282 of file plane_reasoner_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros_utils::PlaneReasoner::onInit ( )
protectedvirtual

Definition at line 74 of file plane_reasoner_nodelet.cpp.

◆ packInfo()

std::vector< PlaneInfoContainer > jsk_pcl_ros_utils::PlaneReasoner::packInfo ( std::vector< pcl::PointIndices::Ptr > &  inliers,
std::vector< pcl::ModelCoefficients::Ptr > &  coefficients,
std::vector< jsk_recognition_utils::Plane::Ptr > &  planes,
std::vector< geometry_msgs::PolygonStamped > &  polygons 
)
protectedvirtual

Definition at line 292 of file plane_reasoner_nodelet.cpp.

◆ publishPlaneInfo()

void jsk_pcl_ros_utils::PlaneReasoner::publishPlaneInfo ( std::vector< PlaneInfoContainer > &  containers,
const std_msgs::Header &  header,
pcl::PointCloud< PointT >::Ptr  cloud,
ros::Publisher &  pub_inlier,
ros::Publisher &  pub_coefficients,
ros::Publisher &  pub_polygons 
)
protectedvirtual

Definition at line 201 of file plane_reasoner_nodelet.cpp.

◆ reason()

void jsk_pcl_ros_utils::PlaneReasoner::reason ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg,
const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &  inliers_msg,
const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &  coefficients_msg,
const jsk_recognition_msgs::PolygonArray::ConstPtr &  polygons_msg 
)
protectedvirtual

Definition at line 154 of file plane_reasoner_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros_utils::PlaneReasoner::subscribe ( )
protectedvirtual

Definition at line 121 of file plane_reasoner_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros_utils::PlaneReasoner::unsubscribe ( )
protectedvirtual

Definition at line 137 of file plane_reasoner_nodelet.cpp.

Member Data Documentation

◆ global_frame_id_

std::string jsk_pcl_ros_utils::PlaneReasoner::global_frame_id_
protected

Definition at line 181 of file plane_reasoner.h.

◆ horizontal_angular_threshold_

double jsk_pcl_ros_utils::PlaneReasoner::horizontal_angular_threshold_
protected

Definition at line 182 of file plane_reasoner.h.

◆ mutex_

boost::mutex jsk_pcl_ros_utils::PlaneReasoner::mutex_
protected

Definition at line 176 of file plane_reasoner.h.

◆ pub_horizontal_coefficients_

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_horizontal_coefficients_
protected

Definition at line 173 of file plane_reasoner.h.

◆ pub_horizontal_inliers_

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_horizontal_inliers_
protected

Definition at line 172 of file plane_reasoner.h.

◆ pub_horizontal_polygons_

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_horizontal_polygons_
protected

Definition at line 174 of file plane_reasoner.h.

◆ pub_vertical_coefficients_

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_vertical_coefficients_
protected

Definition at line 170 of file plane_reasoner.h.

◆ pub_vertical_inliers_

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_vertical_inliers_
protected

Definition at line 169 of file plane_reasoner.h.

◆ pub_vertical_polygons_

ros::Publisher jsk_pcl_ros_utils::PlaneReasoner::pub_vertical_polygons_
protected

Definition at line 171 of file plane_reasoner.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros_utils::PlaneReasoner::srv_
protected

Definition at line 167 of file plane_reasoner.h.

◆ sub_coefficients_

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros_utils::PlaneReasoner::sub_coefficients_
protected

Definition at line 164 of file plane_reasoner.h.

◆ sub_inliers_

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros_utils::PlaneReasoner::sub_inliers_
protected

Definition at line 163 of file plane_reasoner.h.

◆ sub_input_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros_utils::PlaneReasoner::sub_input_
protected

Definition at line 162 of file plane_reasoner.h.

◆ sub_polygons_

message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> jsk_pcl_ros_utils::PlaneReasoner::sub_polygons_
protected

Definition at line 165 of file plane_reasoner.h.

◆ sync_

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros_utils::PlaneReasoner::sync_
protected

Definition at line 166 of file plane_reasoner.h.

◆ tf_listener_

tf::TransformListener* jsk_pcl_ros_utils::PlaneReasoner::tf_listener_
protected

Definition at line 168 of file plane_reasoner.h.

◆ vertical_angular_threshold_

double jsk_pcl_ros_utils::PlaneReasoner::vertical_angular_threshold_
protected

Definition at line 183 of file plane_reasoner.h.

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

jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Fri May 16 2025 03:11:44