#include <line_segment_collector.h>

Public Types
typedef jsk_pcl_ros::LineSegmentCollectorConfig	Config
enum	RotateType { ROTATION_SPINDLE, ROTATION_TILT, ROTATION_TILT_TWO_WAY }
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray >	SyncPolicy
Public Member Functions
	LineSegmentCollector ()
Protected Member Functions
virtual void	cleanupBuffers (const ros::Time &stamp)
virtual void	collect (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_msg)
virtual void	collectFromBuffers (const std_msgs::Header &header, std::vector< LineSegment::Ptr > new_segments)
virtual void	configCallback (Config &config, uint32_t level)
virtual LineSegmentCluster::Ptr	lookupNearestSegment (LineSegment::Ptr segment)
virtual void	onInit ()
virtual void	publishBeforePlaneSegmentation (const std_msgs::Header &header, const pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, const std::vector< pcl::PointIndices::Ptr > &connected_indices)
virtual void	publishResult (const std_msgs::Header &header, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, std::vector< pcl::ModelCoefficients::Ptr > all_coefficients, std::vector< pcl::PointIndices::Ptr > all_indices)
virtual void	subscribe ()
virtual void	triggerCallback (const jsk_recognition_msgs::TimeRange::ConstPtr &trigger)
virtual void	unsubscribe ()
Protected Attributes
TimeStampedVector < jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr >	coefficients_buffer_
jsk_topic_tools::TimeAccumulator	connect_ac_
ros::Publisher	debug_pub_inliers_before_plane_
double	ewma_tau_
std::string	fixed_frame_id_
TimeStampedVector < jsk_recognition_msgs::ClusterPointIndices::ConstPtr >	indices_buffer_
boost::mutex	mutex_
double	outlier_threshold_
TimeStampedVector < sensor_msgs::PointCloud2::ConstPtr >	pointclouds_buffer_
ros::Publisher	pub_coefficients_
ros::Publisher	pub_inliers_
ros::Publisher	pub_point_cloud_
ros::Publisher	pub_polygons_
RotateType	rotate_type_
std::vector < LineSegmentCluster::Ptr >	segment_clusters_
double	segment_connect_normal_threshold_
TimeStampedVector < LineSegment::Ptr >	segments_buffer_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_
message_filters::Subscriber < jsk_recognition_msgs::ClusterPointIndices >	sub_indices_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
ros::Subscriber	sub_trigger_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
jsk_recognition_msgs::TimeRange::ConstPtr	time_range_

Detailed Description

Definition at line 106 of file line_segment_collector.h.

Member Typedef Documentation

typedef jsk_pcl_ros::LineSegmentCollectorConfig jsk_pcl_ros::LineSegmentCollector::Config

Definition at line 117 of file line_segment_collector.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::LineSegmentCollector::SyncPolicy

Definition at line 113 of file line_segment_collector.h.

Member Enumeration Documentation

enum jsk_pcl_ros::LineSegmentCollector::RotateType

Enumerator:

ROTATION_SPINDLE
ROTATION_TILT
ROTATION_TILT_TWO_WAY

Definition at line 114 of file line_segment_collector.h.

Constructor & Destructor Documentation

jsk_pcl_ros::LineSegmentCollector::LineSegmentCollector ( ) [inline]

Definition at line 109 of file line_segment_collector.h.

Member Function Documentation

void jsk_pcl_ros::LineSegmentCollector::cleanupBuffers ( const ros::Time & stamp ) [protected, virtual]

Definition at line 198 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::collect	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	indices_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coefficients_msg
	)		`[protected, virtual]`

Definition at line 346 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::collectFromBuffers	(	const std_msgs::Header &	header,
		std::vector< LineSegment::Ptr >	new_segments
	)		`[protected, virtual]`

Definition at line 273 of file line_segment_collector_nodelet.cpp.

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

Definition at line 169 of file line_segment_collector_nodelet.cpp.

LineSegmentCluster::Ptr jsk_pcl_ros::LineSegmentCollector::lookupNearestSegment ( LineSegment::Ptr segment ) [protected, virtual]

Definition at line 241 of file line_segment_collector_nodelet.cpp.

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

Definition at line 126 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::publishBeforePlaneSegmentation	(	const std_msgs::Header &	header,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		const std::vector< pcl::PointIndices::Ptr > &	connected_indices
	)		`[protected, virtual]`

Definition at line 225 of file line_segment_collector_nodelet.cpp.

void jsk_pcl_ros::LineSegmentCollector::publishResult	(	const std_msgs::Header &	header,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		std::vector< pcl::ModelCoefficients::Ptr >	all_coefficients,
		std::vector< pcl::PointIndices::Ptr >	all_indices
	)		`[protected, virtual]`