#include <cluster_point_indices_decomposer.h>

Inheritance diagram for jsk_pcl_ros::ClusterPointIndicesDecomposer:

Public Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices >	ApproximateSyncPolicy
typedef jsk_pcl_ros::ClusterPointIndicesDecomposerConfig	Config
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray >	SyncAlignPolicy
typedef message_filters::sync_policies::ExactTime < sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices >	SyncPolicy
Public Member Functions
	ClusterPointIndicesDecomposer ()
virtual void	extract (const sensor_msgs::PointCloud2ConstPtr &point, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients)
virtual void	extract (const sensor_msgs::PointCloud2ConstPtr &point, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices)
virtual void	onInit ()
virtual void	sortIndicesOrder (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)
void	sortIndicesOrderByCloudSize (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)
void	sortIndicesOrderByIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)
void	sortIndicesOrderByZAxis (const pcl::PointCloud< pcl::PointXYZ >::Ptr input, const std::vector< pcl::IndicesPtr > indices_array, std::vector< size_t > *argsort)
Protected Member Functions
void	addToDebugPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud, size_t i, pcl::PointCloud< pcl::PointXYZRGB > &debug_output)
virtual void	allocatePublishers (size_t num)
virtual bool	computeCenterAndBoundingBox (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud, const std_msgs::Header header, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients, geometry_msgs::Pose &center_pose_msg, jsk_recognition_msgs::BoundingBox &bounding_box)
virtual void	configCallback (Config &config, uint32_t level)
virtual int	findNearestPlane (const Eigen::Vector4f &center, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients)
virtual void	publishNegativeIndices (const sensor_msgs::PointCloud2ConstPtr &input, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices_input)
virtual void	subscribe ()
virtual bool	transformPointCloudToAlignWithPlane (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented_cloud_transformed, const Eigen::Vector4f center, const jsk_recognition_msgs::PolygonArrayConstPtr &planes, const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &coefficients, Eigen::Matrix4f &m4, Eigen::Quaternionf &q)
virtual void	unsubscribe ()
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)
Static Protected Member Functions
static uint32_t	colorRGBAToUInt32 (std_msgs::ColorRGBA c)
Protected Attributes
bool	align_boxes_
bool	align_boxes_with_plane_
boost::shared_ptr < message_filters::Synchronizer < ApproximateSyncPolicy > >	async_
ros::Publisher	box_pub_
boost::shared_ptr < tf::TransformBroadcaster >	br_
ros::Publisher	centers_pub_
jsk_recognition_utils::Counter	cluster_counter_
bool	force_to_flip_z_axis_
ros::Publisher	indices_pub_
ros::Publisher	label_pub_
ros::Publisher	mask_pub_
int	max_size_
int	min_size_
boost::mutex	mutex_
ros::Publisher	negative_indices_pub_
ros::Publisher	pc_pub_
bool	publish_clouds_
bool	publish_tf_
std::vector< ros::Publisher >	publishers_
int	queue_size_
std::string	sort_by_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
message_filters::Subscriber < jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	sub_input_
message_filters::Subscriber < jsk_recognition_msgs::PolygonArray >	sub_polygons_
message_filters::Subscriber < jsk_recognition_msgs::ClusterPointIndices >	sub_target_
boost::shared_ptr < message_filters::Synchronizer < SyncPolicy > >	sync_
boost::shared_ptr < message_filters::Synchronizer < SyncAlignPolicy > >	sync_align_
std::string	target_frame_id_
tf::TransformListener *	tf_listener_
std::string	tf_prefix_
bool	use_async_
bool	use_pca_

Detailed Description

Definition at line 68 of file cluster_point_indices_decomposer.h.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::ClusterPointIndicesDecomposer::ApproximateSyncPolicy

Definition at line 78 of file cluster_point_indices_decomposer.h.

typedef jsk_pcl_ros::ClusterPointIndicesDecomposerConfig jsk_pcl_ros::ClusterPointIndicesDecomposer::Config

Definition at line 72 of file cluster_point_indices_decomposer.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::ClusterPointIndicesDecomposer::SyncAlignPolicy

Definition at line 83 of file cluster_point_indices_decomposer.h.

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

Definition at line 75 of file cluster_point_indices_decomposer.h.

Constructor & Destructor Documentation

jsk_pcl_ros::ClusterPointIndicesDecomposer::ClusterPointIndicesDecomposer ( ) [inline]

Definition at line 71 of file cluster_point_indices_decomposer.h.

Member Function Documentation

void jsk_pcl_ros::ClusterPointIndicesDecomposer::addToDebugPointCloud	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr	segmented_cloud,
		size_t	i,
		pcl::PointCloud< pcl::PointXYZRGB > &	debug_output
	)		`[protected]`

Definition at line 549 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::allocatePublishers ( size_t num ) [protected, virtual]

Definition at line 744 of file cluster_point_indices_decomposer_nodelet.cpp.

static uint32_t jsk_pcl_ros::ClusterPointIndicesDecomposer::colorRGBAToUInt32 ( std_msgs::ColorRGBA c ) [inline, static, protected]

Definition at line 143 of file cluster_point_indices_decomposer.h.

bool jsk_pcl_ros::ClusterPointIndicesDecomposer::computeCenterAndBoundingBox	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr	segmented_cloud,
		const std_msgs::Header	header,
		const jsk_recognition_msgs::PolygonArrayConstPtr &	planes,
		const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &	coefficients,
		geometry_msgs::Pose &	center_pose_msg,
		jsk_recognition_msgs::BoundingBox &	bounding_box
	)		`[protected, virtual]`

Definition at line 410 of file cluster_point_indices_decomposer_nodelet.cpp.

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

Definition at line 120 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::extract	(	const sensor_msgs::PointCloud2ConstPtr &	point,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices,
		const jsk_recognition_msgs::PolygonArrayConstPtr &	planes,
		const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &	coefficients
	)		`[virtual]`

Definition at line 588 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::extract	(	const sensor_msgs::PointCloud2ConstPtr &	point,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices
	)		`[virtual]`

Definition at line 736 of file cluster_point_indices_decomposer_nodelet.cpp.

int jsk_pcl_ros::ClusterPointIndicesDecomposer::findNearestPlane	(	const Eigen::Vector4f &	center,
		const jsk_recognition_msgs::PolygonArrayConstPtr &	planes,
		const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &	coefficients
	)		`[protected, virtual]`

Definition at line 291 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::onInit ( void ) [virtual]

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Reimplemented in jsk_pcl_ros::ClusterPointIndicesDecomposerZAxis.

Definition at line 66 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::publishNegativeIndices	(	const sensor_msgs::PointCloud2ConstPtr &	input,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices_input
	)		`[protected, virtual]`

Definition at line 564 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrder	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr	input,
		const std::vector< pcl::IndicesPtr >	indices_array,
		std::vector< size_t > *	argsort
	)		`[virtual]`

Definition at line 160 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrderByCloudSize	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr	input,
		const std::vector< pcl::IndicesPtr >	indices_array,
		std::vector< size_t > *	argsort
	)

Definition at line 239 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrderByIndices	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr	input,
		const std::vector< pcl::IndicesPtr >	indices_array,
		std::vector< size_t > *	argsort
	)

Definition at line 197 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::sortIndicesOrderByZAxis	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr	input,
		const std::vector< pcl::IndicesPtr >	indices_array,
		std::vector< size_t > *	argsort
	)

Definition at line 209 of file cluster_point_indices_decomposer_nodelet.cpp.

void jsk_pcl_ros::ClusterPointIndicesDecomposer::subscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 127 of file cluster_point_indices_decomposer_nodelet.cpp.

bool jsk_pcl_ros::ClusterPointIndicesDecomposer::transformPointCloudToAlignWithPlane	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr	segmented_cloud,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	segmented_cloud_transformed,
		const Eigen::Vector4f	center,
		const jsk_recognition_msgs::PolygonArrayConstPtr &	planes,
		const jsk_recognition_msgs::ModelCoefficientsArrayConstPtr &	coefficients,
		Eigen::Matrix4f &	m4,
		Eigen::Quaternionf &	q
	)		`[protected, virtual]`