#include <primitive_shape_classifier.h>

Public Types
typedef PrimitiveShapeClassifierConfig	Config
typedef pcl::PointXYZRGBA	PointT
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray >	SyncPolicy
Public Member Functions
	PrimitiveShapeClassifier ()
Protected Member Functions
virtual bool	checkFrameId (const sensor_msgs::PointCloud2::ConstPtr &ros_cloud, const sensor_msgs::PointCloud2::ConstPtr &ros_normal, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &ros_indices, const jsk_recognition_msgs::PolygonArray::ConstPtr &ros_polygons)
virtual void	configCallback (Config &config, uint32_t level)
virtual bool	estimate (const pcl::PointCloud< PointT >::Ptr &cloud, const pcl::PointCloud< pcl::Normal >::Ptr &normal, const pcl::ModelCoefficients::Ptr &plane, pcl::PointIndices::Ptr &boundary_indices, pcl::PointCloud< PointT >::Ptr &projected_cloud, float &circle_likelihood, float &box_likelihood)
virtual bool	getSupportPlane (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< jsk_recognition_utils::Polygon::Ptr > &polygons, pcl::ModelCoefficients::Ptr &coeff)
virtual void	onInit ()
virtual void	process (const sensor_msgs::PointCloud2::ConstPtr &ros_cloud, const sensor_msgs::PointCloud2::ConstPtr &ros_normal, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &ros_indices, const jsk_recognition_msgs::PolygonArray::ConstPtr &ros_polygons)
virtual void	subscribe ()
virtual void	unsubscribe ()
Protected Attributes
double	box_threshold_
double	circle_threshold_
int	min_points_num_
boost::mutex	mutex_
ros::Publisher	pub_boundary_indices_
ros::Publisher	pub_class_
ros::Publisher	pub_projected_cloud_
int	queue_size_
double	sac_distance_threshold_
int	sac_max_iterations_
double	sac_radius_limit_max_
double	sac_radius_limit_min_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_cloud_
message_filters::Subscriber < jsk_recognition_msgs::ClusterPointIndices >	sub_indices_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_normal_
message_filters::Subscriber < jsk_recognition_msgs::PolygonArray >	sub_polygons_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_

Detailed Description

Definition at line 62 of file primitive_shape_classifier.h.

Member Typedef Documentation

typedef PrimitiveShapeClassifierConfig jsk_pcl_ros::PrimitiveShapeClassifier::Config

Definition at line 69 of file primitive_shape_classifier.h.

typedef pcl::PointXYZRGBA jsk_pcl_ros::PrimitiveShapeClassifier::PointT

Definition at line 70 of file primitive_shape_classifier.h.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray> jsk_pcl_ros::PrimitiveShapeClassifier::SyncPolicy

Definition at line 68 of file primitive_shape_classifier.h.

Constructor & Destructor Documentation

jsk_pcl_ros::PrimitiveShapeClassifier::PrimitiveShapeClassifier ( ) [inline]

Definition at line 72 of file primitive_shape_classifier.h.

Member Function Documentation

bool jsk_pcl_ros::PrimitiveShapeClassifier::checkFrameId	(	const sensor_msgs::PointCloud2::ConstPtr &	ros_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	ros_normal,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	ros_indices,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	ros_polygons
	)		`[protected, virtual]`

Definition at line 120 of file primitive_shape_classifier_nodelet.cpp.

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

Definition at line 92 of file primitive_shape_classifier_nodelet.cpp.

bool jsk_pcl_ros::PrimitiveShapeClassifier::estimate	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::PointCloud< pcl::Normal >::Ptr &	normal,
		const pcl::ModelCoefficients::Ptr &	plane,
		pcl::PointIndices::Ptr &	boundary_indices,
		pcl::PointCloud< PointT >::Ptr &	projected_cloud,
		float &	circle_likelihood,
		float &	box_likelihood
	)		`[protected, virtual]`

Definition at line 252 of file primitive_shape_classifier_nodelet.cpp.

bool jsk_pcl_ros::PrimitiveShapeClassifier::getSupportPlane	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< jsk_recognition_utils::Polygon::Ptr > &	polygons,
		pcl::ModelCoefficients::Ptr &	coeff
	)		`[protected, virtual]`

Definition at line 333 of file primitive_shape_classifier_nodelet.cpp.

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

Definition at line 54 of file primitive_shape_classifier_nodelet.cpp.

void jsk_pcl_ros::PrimitiveShapeClassifier::process	(	const sensor_msgs::PointCloud2::ConstPtr &	ros_cloud,
		const sensor_msgs::PointCloud2::ConstPtr &	ros_normal,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	ros_indices,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	ros_polygons
	)		`[protected, virtual]`