jsk_pcl_ros::FeatureRegistration Class Reference

Nodelet implementation of jsk_pcl/FeatureRegistration. More...

#include <feature_registration.h>

List of all members.

Public Types
typedef FeatureRegistrationConfig	Config
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	SyncPolicy
Public Member Functions
	FeatureRegistration ()
Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)
virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &feature_msg)
virtual void	onInit ()
virtual void	referenceCallback (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &feature_msg)
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
int	correspondence_randomness_
double	inlier_fraction_
double	max_correspondence_distance_
int	max_iterations_
boost::mutex	mutex_
ros::Publisher	pub_cloud_
ros::Publisher	pub_pose_
pcl::PointCloud < pcl::PointNormal >::Ptr	reference_cloud_
pcl::PointCloud < pcl::FPFHSignature33 >::Ptr	reference_feature_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	reference_sync_
double	similarity_threshold_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_feature_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_reference_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_reference_feature_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_

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Detailed Description

Nodelet implementation of jsk_pcl/FeatureRegistration.

Definition at line 61 of file feature_registration.h.

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Member Typedef Documentation

typedef FeatureRegistrationConfig jsk_pcl_ros::FeatureRegistration::Config

Definition at line 64 of file feature_registration.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::SyncPolicy

Definition at line 67 of file feature_registration.h.

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Constructor & Destructor Documentation

jsk_pcl_ros::FeatureRegistration::FeatureRegistration

(

)

[inline]

Definition at line 68 of file feature_registration.h.

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Member Function Documentation

void jsk_pcl_ros::FeatureRegistration::configCallback	(	Config &	config,
		uint32_t	level
	)		[protected, virtual]

Definition at line 98 of file feature_registration_nodelet.cpp.

void jsk_pcl_ros::FeatureRegistration::estimate	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	feature_msg
	)		[protected, virtual]

Definition at line 109 of file feature_registration_nodelet.cpp.

void jsk_pcl_ros::FeatureRegistration::onInit

(

void

)

[protected, virtual]

Definition at line 46 of file feature_registration_nodelet.cpp.

void jsk_pcl_ros::FeatureRegistration::referenceCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const sensor_msgs::PointCloud2::ConstPtr &	feature_msg
	)		[protected, virtual]

Definition at line 86 of file feature_registration_nodelet.cpp.

void jsk_pcl_ros::FeatureRegistration::subscribe

(

)

[protected, virtual]

Definition at line 69 of file feature_registration_nodelet.cpp.

void jsk_pcl_ros::FeatureRegistration::unsubscribe

(

)

[protected, virtual]

Definition at line 80 of file feature_registration_nodelet.cpp.

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Member Data Documentation

int jsk_pcl_ros::FeatureRegistration::correspondence_randomness_ [protected]

Definition at line 102 of file feature_registration.h.

double jsk_pcl_ros::FeatureRegistration::inlier_fraction_ [protected]

Definition at line 105 of file feature_registration.h.

double jsk_pcl_ros::FeatureRegistration::max_correspondence_distance_ [protected]

Definition at line 104 of file feature_registration.h.

int jsk_pcl_ros::FeatureRegistration::max_iterations_ [protected]

Definition at line 101 of file feature_registration.h.

boost::mutex jsk_pcl_ros::FeatureRegistration::mutex_ [protected]

Definition at line 84 of file feature_registration.h.

ros::Publisher jsk_pcl_ros::FeatureRegistration::pub_cloud_ [protected]

Definition at line 86 of file feature_registration.h.

ros::Publisher jsk_pcl_ros::FeatureRegistration::pub_pose_ [protected]

Definition at line 85 of file feature_registration.h.

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_pcl_ros::FeatureRegistration::reference_cloud_ [protected]

Definition at line 98 of file feature_registration.h.

pcl::PointCloud<pcl::FPFHSignature33>::Ptr jsk_pcl_ros::FeatureRegistration::reference_feature_ [protected]

Definition at line 99 of file feature_registration.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::FeatureRegistration::reference_sync_ [protected]

Definition at line 95 of file feature_registration.h.

double jsk_pcl_ros::FeatureRegistration::similarity_threshold_ [protected]

Definition at line 103 of file feature_registration.h.

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::FeatureRegistration::srv_ [protected]

Definition at line 87 of file feature_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::sub_input_ [protected]

Definition at line 89 of file feature_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::sub_input_feature_ [protected]

Definition at line 90 of file feature_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::sub_input_reference_ [protected]

Definition at line 93 of file feature_registration.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::FeatureRegistration::sub_input_reference_feature_ [protected]

Definition at line 94 of file feature_registration.h.

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::FeatureRegistration::sync_ [protected]

Definition at line 91 of file feature_registration.h.

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

• feature_registration.h
• feature_registration_nodelet.cpp