Public Member Functions
bool	cloud_cb (handle_detection2D::getHandlesNAN::Request &req, handle_detection2D::getHandlesNAN::Response &res)
void	createNaNPointCloud (cv::Mat &nan_image, pcl::PointCloud< pcl::PointXYZ >::Ptr nan_cloud)
void	drawLines (const cv::Mat &nan_image, cv::Mat &dst, const vector< Vec4i > &lines, int max_line_length)
void	drawNANs (cv::Mat &nan_image, const Rect roi, double padding=0.0)
void	drawProjectedPoints (std::vector< cv::Point2d > &projected_points, cv::Mat &nan_image, cv::Mat &dst)
void	drawROI (cv::Mat &nan_image, pcl::PointIndices &roi_indices)
void	erodeDilate (cv::Mat &nan_image)
int	findBiggestPlane (pcl::PointCloud< pcl::PointXYZRGB >::Ptr pcl_cloud, Rect &roi, pcl::PointIndices &indices_biggest_plane)
void	findHandlesInNanPointCloud (pcl::PointCloud< pcl::PointXYZ >::Ptr nan_cloud, std::vector< pcl::PointIndices > &handle_clusters)
void	findLines (cv::Mat &nan_image, vector< Vec4i > &lines)
void	getHandleImageLength (std::vector< geometry_msgs::PointStamped > &vector_point_avg, std::vector< double > &expected_handle_image_length)
std::string	getName () const
	Get a string representation of the name of this class.
	HandleDetectorNANNode (ros::NodeHandle &n)
double	lineLength2D (int x1, int y1, int x2, int y2)
double	lineLength2D (double x1, double y1, double x2, double y2)
void	project3DPointsToPixels (std::vector< cv::Point2d > &projected_points)
void	publishMarker (std::vector< geometry_msgs::PointStamped > &vector_point_avg)
void	recoverCentroidPose (std::vector< pcl::PointIndices > &handle_clusters, pcl::PointCloud< pcl::PointXYZ >::Ptr nan_cloud, std::vector< geometry_msgs::PointStamped > &vector_point_avg)
void	rejectFalsePositives (std::vector< geometry_msgs::PointStamped > &vector_point_avg)
void	saveHandleClusters (std::vector< pcl::PointIndices > &handle_clusters, pcl::PointCloud< pcl::PointXYZ >::Ptr nan_cloud)
void	transformPoints (std::vector< geometry_msgs::PointStamped > &vector_point_avg, std::string frame="base_link")
Public Attributes
double	base_link_kinect_head_rgb_optical_frame_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	biggest_plane_cloud_
sensor_msgs::CameraInfoConstPtr	cam_info
image_geometry::PinholeCameraModel	cam_model_
Mat	canny_img
pcl::ConvexHull< pcl::PointXYZ >	chull_
pcl::EuclideanClusterExtraction < PointT >	cluster_
KdTreePtr	clusters_tree_
Mat	dst
double	eps_angle_
pcl::EuclideanClusterExtraction < pcl::PointXYZ >	h_cluster_
double	handle_length_
pcl::KdTree< pcl::PointXYZ >::Ptr	handles_tree_
sensor_msgs::ImageConstPtr	image_ptr
string	input_cloud_topic_
int	k_
std::string	kinect_rgb_optical_frame_
ros::Publisher	marker_pub_
int	max_iter_
int	min_table_inliers_
pcl::NormalEstimation < pcl::PointXYZRGB, pcl::Normal >	n3d_
Mat	nan_image
double	normal_distance_weight_
KdTreePtr	normals_tree_
int	nr_cluster_
sensor_msgs::PointCloud2	output_cloud_
string	output_cloud_topic_
string	output_marker_topic_
pcl::PCDWriter	pcd_writer_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	pcl_cloud_
int	plane_cluster_max_size_
int	plane_cluster_min_size_
double	plane_cluster_tolerance_
pcl_ros::Publisher< PointT >	pub_
Mat	roi_image
double	sac_distance_
bool	save_cloud_
bool	save_image_
pcl::SACSegmentationFromNormals < PointT, pcl::Normal >	seg_
double	seg_prob_
ros::ServiceServer	service_
ros::Subscriber	sub_
tf::TransformListener	tf_listener_
double	x_handle_position_offset_
double	z_handle_position_
Protected Attributes
ros::NodeHandle	nh_

Detailed Description

Definition at line 93 of file handle_detector_nan.cpp.

Constructor & Destructor Documentation

HandleDetectorNANNode::HandleDetectorNANNode ( ros::NodeHandle & n ) [inline]

Definition at line 130 of file handle_detector_nan.cpp.

Member Function Documentation

bool HandleDetectorNANNode::cloud_cb	(	handle_detection2D::getHandlesNAN::Request &	req,
		handle_detection2D::getHandlesNAN::Response &	res
	)		`[inline]`

Definition at line 712 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::createNaNPointCloud	(	cv::Mat &	nan_image,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	nan_cloud
	)		`[inline]`

Definition at line 503 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::drawLines	(	const cv::Mat &	nan_image,
		cv::Mat &	dst,
		const vector< Vec4i > &	lines,
		int	max_line_length
	)		`[inline]`

Definition at line 470 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::drawNANs	(	cv::Mat &	nan_image,
		const Rect	roi,
		double	padding = `0.0`
	)		`[inline]`

Definition at line 403 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::drawProjectedPoints	(	std::vector< cv::Point2d > &	projected_points,
		cv::Mat &	nan_image,
		cv::Mat &	dst
	)		`[inline]`

Definition at line 494 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::drawROI	(	cv::Mat &	nan_image,
		pcl::PointIndices &	roi_indices
	)		`[inline]`

Definition at line 423 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::erodeDilate ( cv::Mat & nan_image ) [inline]

Definition at line 460 of file handle_detector_nan.cpp.

int HandleDetectorNANNode::findBiggestPlane	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	pcl_cloud,
		Rect &	roi,
		pcl::PointIndices &	indices_biggest_plane
	)		`[inline]`

Definition at line 218 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::findHandlesInNanPointCloud	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	nan_cloud,
		std::vector< pcl::PointIndices > &	handle_clusters
	)		`[inline]`

Definition at line 521 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::findLines	(	cv::Mat &	nan_image,
		vector< Vec4i > &	lines
	)		`[inline]`

Definition at line 453 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::getHandleImageLength	(	std::vector< geometry_msgs::PointStamped > &	vector_point_avg,
		std::vector< double > &	expected_handle_image_length
	)		`[inline]`

Definition at line 637 of file handle_detector_nan.cpp.

std::string HandleDetectorNANNode::getName ( ) const [inline]

Get a string representation of the name of this class.

Definition at line 216 of file handle_detector_nan.cpp.

double HandleDetectorNANNode::lineLength2D	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		`[inline]`

Definition at line 203 of file handle_detector_nan.cpp.

double HandleDetectorNANNode::lineLength2D	(	double	x1,
		double	y1,
		double	x2,
		double	y2
	)		`[inline]`

Definition at line 208 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::project3DPointsToPixels ( std::vector< cv::Point2d > & projected_points ) [inline]

Definition at line 384 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::publishMarker ( std::vector< geometry_msgs::PointStamped > & vector_point_avg ) [inline]

Definition at line 603 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::recoverCentroidPose	(	std::vector< pcl::PointIndices > &	handle_clusters,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	nan_cloud,
		std::vector< geometry_msgs::PointStamped > &	vector_point_avg
	)		`[inline]`

Definition at line 548 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::rejectFalsePositives ( std::vector< geometry_msgs::PointStamped > & vector_point_avg ) [inline]

Definition at line 657 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::saveHandleClusters	(	std::vector< pcl::PointIndices > &	handle_clusters,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	nan_cloud
	)		`[inline]`

Definition at line 531 of file handle_detector_nan.cpp.

void HandleDetectorNANNode::transformPoints	(	std::vector< geometry_msgs::PointStamped > &	vector_point_avg,
		std::string	frame = `"base_link"`
	)		`[inline]`