#include <find_object_on_plane.h>

Public Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::CameraInfo, pcl_msgs::ModelCoefficients >	SyncPolicy
Public Member Functions
	FindObjectOnPlane ()
Protected Member Functions
virtual double	drawAngle (cv::Mat &out_image, const cv::Point2f &test_point, const double angle, const double max_x, const double max_y, const image_geometry::PinholeCameraModel &model, const jsk_recognition_utils::Plane::Ptr &plane, cv::Scalar color)
virtual void	find (const sensor_msgs::Image::ConstPtr &image_msg, const sensor_msgs::CameraInfo::ConstPtr &info_msg, const pcl_msgs::ModelCoefficients::ConstPtr &polygon_3d_coefficient_msg)
virtual void	generateAngles (const cv::Mat &blob_image, const cv::Point2f &test_point, std::vector< double > &angles, std::vector< double > &max_x, std::vector< double > &max_y, const image_geometry::PinholeCameraModel &model, const jsk_recognition_utils::Plane::Ptr &plane)
virtual void	generateStartPoints (const cv::Point2f &point_2d, const image_geometry::PinholeCameraModel &model, const pcl::ModelCoefficients::Ptr &coefficients, std::vector< cv::Point3f > &search_points_3d, std::vector< cv::Point2f > &search_points_2d)
virtual cv::Point2d	getUyEnd (const cv::Point2d &ux_start, const cv::Point2d &ux_end, const image_geometry::PinholeCameraModel &model, const jsk_recognition_utils::Plane::Ptr &plane)
virtual void	onInit ()
Eigen::Vector3f	rayPlaneInteersect (const cv::Point3d &ray, const jsk_recognition_utils::Plane::Ptr &plane)
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
ros::Publisher	pub_min_area_rect_image_
message_filters::Subscriber < pcl_msgs::ModelCoefficients >	sub_coefficients_
message_filters::Subscriber < sensor_msgs::Image >	sub_image_
message_filters::Subscriber < sensor_msgs::CameraInfo >	sub_info_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_

Detailed Description

Definition at line 54 of file find_object_on_plane.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, sensor_msgs::CameraInfo, pcl_msgs::ModelCoefficients > jsk_pcl_ros::FindObjectOnPlane::SyncPolicy

Definition at line 60 of file find_object_on_plane.h.

Constructor & Destructor Documentation

jsk_pcl_ros::FindObjectOnPlane::FindObjectOnPlane ( ) [inline]

Definition at line 62 of file find_object_on_plane.h.

Member Function Documentation

double jsk_pcl_ros::FindObjectOnPlane::drawAngle	(	cv::Mat &	out_image,
		const cv::Point2f &	test_point,
		const double	angle,
		const double	max_x,
		const double	max_y,
		const image_geometry::PinholeCameraModel &	model,
		const jsk_recognition_utils::Plane::Ptr &	plane,
		cv::Scalar	color
	)		`[protected, virtual]`

Definition at line 238 of file find_object_on_plane_nodelet.cpp.

void jsk_pcl_ros::FindObjectOnPlane::find	(	const sensor_msgs::Image::ConstPtr &	image_msg,
		const sensor_msgs::CameraInfo::ConstPtr &	info_msg,
		const pcl_msgs::ModelCoefficients::ConstPtr &	polygon_3d_coefficient_msg
	)		`[protected, virtual]`

Definition at line 68 of file find_object_on_plane_nodelet.cpp.

void jsk_pcl_ros::FindObjectOnPlane::generateAngles	(	const cv::Mat &	blob_image,
		const cv::Point2f &	test_point,
		std::vector< double > &	angles,
		std::vector< double > &	max_x,
		std::vector< double > &	max_y,
		const image_geometry::PinholeCameraModel &	model,
		const jsk_recognition_utils::Plane::Ptr &	plane
	)		`[protected, virtual]`

Definition at line 151 of file find_object_on_plane_nodelet.cpp.

void jsk_pcl_ros::FindObjectOnPlane::generateStartPoints	(	const cv::Point2f &	point_2d,
		const image_geometry::PinholeCameraModel &	model,
		const pcl::ModelCoefficients::Ptr &	coefficients,
		std::vector< cv::Point3f > &	search_points_3d,
		std::vector< cv::Point2f > &	search_points_2d
	)		`[protected, virtual]`

Definition at line 263 of file find_object_on_plane_nodelet.cpp.

cv::Point2d jsk_pcl_ros::FindObjectOnPlane::getUyEnd	(	const cv::Point2d &	ux_start,
		const cv::Point2d &	ux_end,
		const image_geometry::PinholeCameraModel &	model,
		const jsk_recognition_utils::Plane::Ptr &	plane
	)		`[protected, virtual]`

Definition at line 218 of file find_object_on_plane_nodelet.cpp.

void jsk_pcl_ros::FindObjectOnPlane::onInit ( void ) [protected, virtual]

Definition at line 43 of file find_object_on_plane_nodelet.cpp.

Eigen::Vector3f jsk_pcl_ros::FindObjectOnPlane::rayPlaneInteersect	(	const cv::Point3d &	ray,
		const jsk_recognition_utils::Plane::Ptr &	plane
	)		`[protected]`