Public Member Functions
	DrawerHandlesDetector (const ros::NodeHandle &nh)
	DrawerHandlesDetector (const ros::NodeHandle &nh)
void	init ()
virtual	~DrawerHandlesDetector ()
virtual	~DrawerHandlesDetector ()
Private Member Functions
void	executeCB (const handle_detection::HandleDetectionGoalConstPtr &goal)
void	getHandlePose (pcl::PointCloud< Point >::Ptr line_projected, pcl::ModelCoefficients::Ptr table_coeff, std::string &frame, geometry_msgs::PoseStamped &pose)
void	getHandlePose (pcl::PointCloud< Point >::Ptr line_projected, pcl::ModelCoefficients::Ptr table_coeff, std::string &frame, geometry_msgs::PoseStamped &pose)
std::string	getName () const
	Get a string representation of the name of this class.
std::string	getName () const
	Get a string representation of the name of this class.
void	ptuFinderCallback (const sensor_msgs::PointCloud2ConstPtr &cloud_in)
Private Attributes
actionlib::SimpleActionServer < handle_detection::HandleDetectionAction >	as_
pcl::ConvexHull< Point >	chull_
pcl_ros::Publisher< Point >	cloud_handle_pub_
pcl::PointCloud< pcl::Normal > ::ConstPtr	cloud_normals_
pcl::PointCloud< Point >	cloud_objects_
pcl_ros::Publisher< Point >	cloud_pub_
pcl::EuclideanClusterExtraction < Point >	cluster_
double	cluster_max_height_
double	cluster_min_height_
KdTreePtr	clusters_tree_
double	eps_angle_
pcl::ExtractIndices< Point >	extract_
pcl::EuclideanClusterExtraction < Point >	handle_cluster_
int	handle_cluster_max_size_
int	handle_cluster_min_size_
double	handle_cluster_tolerance_
ros::Publisher	handle_pose_pub_
std::string	handle_pose_topic_
int	k_
int	max_iter_
int	min_table_inliers_
pcl::NormalEstimation< Point, pcl::Normal >	n3d_
ros::NodeHandle	nh_
double	normal_distance_weight_
KdTreePtr	normals_tree_
int	nr_cluster_
int	object_cluster_max_size_
int	object_cluster_min_size_
double	object_cluster_tolerance_
std::string	output_handle_topic_
ros::Subscriber	point_cloud_sub_
std::string	point_cloud_topic_
pcl::ExtractPolygonalPrismData < Point >	prism_
pcl::ProjectInliers< Point >	proj_
bool	publish_largest_handle_pose_
handle_detection::HandleDetectionResult	result_
double	sac_distance_
pcl::SACSegmentationFromNormals < Point, pcl::Normal >	seg_
pcl::SACSegmentation< Point >	seg_line_
double	seg_prob_
pcl::VoxelGrid< Point >	vgrid_
double	voxel_size_
double	x_max_limit_
double	x_min_limit_
double	y_max_limit_
double	y_min_limit_
double	z_max_limit_
double	z_min_limit_

Detailed Description

Definition at line 85 of file drawer_cluster_detector.cpp.

Constructor & Destructor Documentation

DrawerHandlesDetector::DrawerHandlesDetector ( const ros::NodeHandle & nh ) [inline]

Definition at line 89 of file drawer_cluster_detector.cpp.

virtual DrawerHandlesDetector::~DrawerHandlesDetector ( ) [inline, virtual]

Definition at line 165 of file drawer_cluster_detector.cpp.

DrawerHandlesDetector::DrawerHandlesDetector ( const ros::NodeHandle & nh ) [inline]

Definition at line 91 of file drawer_handles_detector.cpp.

virtual DrawerHandlesDetector::~DrawerHandlesDetector ( ) [inline, virtual]

Definition at line 178 of file drawer_handles_detector.cpp.

Member Function Documentation

void DrawerHandlesDetector::executeCB ( const handle_detection::HandleDetectionGoalConstPtr & goal ) [inline, private]

Definition at line 183 of file drawer_handles_detector.cpp.

void DrawerHandlesDetector::getHandlePose	(	pcl::PointCloud< Point >::Ptr	line_projected,
		pcl::ModelCoefficients::Ptr	table_coeff,
		std::string &	frame,
		geometry_msgs::PoseStamped &	pose
	)		`[inline, private]`

Definition at line 373 of file drawer_cluster_detector.cpp.

void DrawerHandlesDetector::getHandlePose	(	pcl::PointCloud< Point >::Ptr	line_projected,
		pcl::ModelCoefficients::Ptr	table_coeff,
		std::string &	frame,
		geometry_msgs::PoseStamped &	pose
	)		`[inline, private]`