#include <segmenter.hh>

Inheritance diagram for semanticmodel::Segmenter:

Public Member Functions
void	convex_hulls (const vector< PointCloud::Ptr > &planes, vector< PointCloud::Ptr > &hulls)
void	fit_planes (PointCloud::ConstPtr in, pcl16::PointCloud< pcl16::Normal >::ConstPtr normals, const tf::Transform &trans, vector< PointCloud::Ptr > &good_planes, vector< pcl16::ModelCoefficients > &good_models, vector< pcl16::ModelCoefficients > &bad_models)
void	get_aboves (const vector< PointCloud::Ptr > &hulls, const vector< pcl16::ModelCoefficients > &coeffs, const PointCloud::Ptr &densecloud, PointCloud::Ptr &out)
void	lose_bads (const PointCloud::ConstPtr &aboves, PointCloud::Ptr good_aboves, const vector< pcl16::ModelCoefficients > &bad_coeffs)
void	passthrough (PointCloud::Ptr &in, PointCloud::Ptr &out)
void	publish_planes (const vector< PointCloud::Ptr > &planes, const vector< PointCloud::Ptr > &hulls, const vector< pcl16::ModelCoefficients > &coeffs, vector< semanticmodel::Plane > &outputs)
void	publishLatestPlanes (const ros::WallTimerEvent &e)
	Segmenter (const std::string &name_space, const std::string &cloud_input_topic, const std::string &camera_input_topic, const std::string &depth_input_topic, const std::string &planecloud_output_topic, const std::string &plane_output_topic, const std::string &object_output_topic, const std::string &plane_service_topic)
void	synchronized_pipeline_callback (const sensor_msgs::ImageConstPtr &rgb_img, const sensor_msgs::CameraInfoConstPtr &rgb_info, const sensor_msgs::ImageConstPtr &depth_image, const sensor_msgs::CameraInfoConstPtr &depth_info, const PointCloud::ConstPtr &cloud)
Private Types
typedef pcl16::PointXYZRGB	Point
typedef pcl16::PointCloud< Point >	PointCloud
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, PointCloud >	Sync
Private Member Functions
void	camera_cb (const sensor_msgs::ImageConstPtr &img, const sensor_msgs::CameraInfoConstPtr &info)
void	cloud_cb (const PointCloud::ConstPtr &cloud)
void	depth_cb (const sensor_msgs::ImageConstPtr &img, const sensor_msgs::CameraInfoConstPtr &info)
void	dynamic_reconfigure_callback (const FilterConfig &config, uint32_t level)
bool	isGroundPlane (const pcl16::ModelCoefficients &coeffs) const
bool	isHorizontal (const pcl16::ModelCoefficients &coeffs) const
pcl16::ModelCoefficients	transformCoeffs (const btTransform &trans, const pcl16::ModelCoefficients &in)
Private Attributes
boost::scoped_ptr < tf::TransformBroadcaster >	broadcaster
image_transport::CameraSubscriber	cam_sub
ros::Subscriber	cloud_sub
boost::shared_ptr < pcl16::EdgeAwarePlaneComparator < Point, pcl16::Normal > >	comp_
FilterConfig	config
boost::mutex	config_mutex
image_transport::CameraSubscriber	depth_sub
image_transport::ImageTransport	depth_transport
dynamic_reconfigure::Server < FilterConfig >::CallbackType	dynparam_func
dynamic_reconfigure::Server < FilterConfig >	dynparam_srv
ros::NodeHandle	handle
ros::Publisher	latest_plane_pub_
ros::WallTimer	latest_plane_timer_
boost::circular_buffer < PointCloud::Ptr >	latest_planes_
boost::scoped_ptr < tf::TransformListener >	listener
ros::Publisher	map_points_pub
pcl16::IntegralImageNormalEstimation < Point, pcl16::Normal >	normal_estimator_
ros::Publisher	object_pub
ros::Publisher	plane_pub
pcl16::OrganizedMultiPlaneSegmentation < Point, pcl16::Normal, pcl16::Label >	plane_segmenter_
ros::Publisher	planecloud_pub
ros::ServiceClient	planetracker_srv
int	processed
image_transport::ImageTransport	rgb_transport
bool	short_circuit
int	skipped
boost::scoped_ptr < message_filters::Synchronizer < Sync > >	sync
Static Private Attributes
static const int	QUEUE_SIZE = 100

Detailed Description

Definition at line 53 of file segmenter.hh.

Member Typedef Documentation

typedef pcl16::PointXYZRGB semanticmodel::Segmenter::Point [private]

Definition at line 58 of file segmenter.hh.

typedef pcl16::PointCloud<Point> semanticmodel::Segmenter::PointCloud [private]

Definition at line 59 of file segmenter.hh.

typedef message_filters::sync_policies:: ApproximateTime<sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, PointCloud> semanticmodel::Segmenter::Sync [private]

Definition at line 73 of file segmenter.hh.

Constructor & Destructor Documentation

semanticmodel::Segmenter::Segmenter	(	const std::string &	name_space,
		const std::string &	cloud_input_topic,
		const std::string &	camera_input_topic,
		const std::string &	depth_input_topic,
		const std::string &	planecloud_output_topic,
		const std::string &	plane_output_topic,
		const std::string &	object_output_topic,
		const std::string &	plane_service_topic
	)

Definition at line 79 of file segmenter.cc.

Member Function Documentation

void semanticmodel::Segmenter::camera_cb	(	const sensor_msgs::ImageConstPtr &	img,
		const sensor_msgs::CameraInfoConstPtr &	info
	)		`[private]`

Definition at line 677 of file segmenter.cc.

void semanticmodel::Segmenter::cloud_cb ( const PointCloud::ConstPtr & cloud ) [private]

Definition at line 672 of file segmenter.cc.

void semanticmodel::Segmenter::convex_hulls	(	const vector< PointCloud::Ptr > &	planes,
		vector< PointCloud::Ptr > &	hulls
	)

Definition at line 329 of file segmenter.cc.

void semanticmodel::Segmenter::depth_cb	(	const sensor_msgs::ImageConstPtr &	img,
		const sensor_msgs::CameraInfoConstPtr &	info
	)		`[private]`

Definition at line 684 of file segmenter.cc.

void semanticmodel::Segmenter::dynamic_reconfigure_callback	(	const FilterConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 662 of file segmenter.cc.

void semanticmodel::Segmenter::fit_planes	(	PointCloud::ConstPtr	in,
		pcl16::PointCloud< pcl16::Normal >::ConstPtr	normals,
		const tf::Transform &	trans,
		vector< PointCloud::Ptr > &	good_planes,
		vector< pcl16::ModelCoefficients > &	good_models,
		vector< pcl16::ModelCoefficients > &	bad_models
	)

Definition at line 233 of file segmenter.cc.

void semanticmodel::Segmenter::get_aboves	(	const vector< PointCloud::Ptr > &	hulls,
		const vector< pcl16::ModelCoefficients > &	coeffs,
		const PointCloud::Ptr &	densecloud,
		PointCloud::Ptr &	out
	)

Definition at line 420 of file segmenter.cc.

bool semanticmodel::Segmenter::isGroundPlane ( const pcl16::ModelCoefficients & coeffs ) const [private]

Definition at line 196 of file segmenter.cc.

bool semanticmodel::Segmenter::isHorizontal ( const pcl16::ModelCoefficients & coeffs ) const [private]

Definition at line 191 of file segmenter.cc.

void semanticmodel::Segmenter::lose_bads	(	const PointCloud::ConstPtr &	aboves,
		PointCloud::Ptr	good_aboves,
		const vector< pcl16::ModelCoefficients > &	bad_coeffs
	)

Definition at line 459 of file segmenter.cc.

void semanticmodel::Segmenter::passthrough	(	PointCloud::Ptr &	in,
		PointCloud::Ptr &	out
	)

Definition at line 182 of file segmenter.cc.

void semanticmodel::Segmenter::publish_planes	(	const vector< PointCloud::Ptr > &	planes,
		const vector< PointCloud::Ptr > &	hulls,
		const vector< pcl16::ModelCoefficients > &	coeffs,
		vector< semanticmodel::Plane > &	outputs
	)

Definition at line 343 of file segmenter.cc.

void semanticmodel::Segmenter::publishLatestPlanes ( const ros::WallTimerEvent & e )

Definition at line 484 of file segmenter.cc.

void semanticmodel::Segmenter::synchronized_pipeline_callback	(	const sensor_msgs::ImageConstPtr &	rgb_img,
		const sensor_msgs::CameraInfoConstPtr &	rgb_info,
		const sensor_msgs::ImageConstPtr &	depth_image,
		const sensor_msgs::CameraInfoConstPtr &	depth_info,
		const PointCloud::ConstPtr &	cloud
	)