Public Types | Protected Member Functions | Protected Attributes
jsk_pcl_ros::MultiPlaneSACSegmentation Class Reference

#include <multi_plane_sac_segmentation.h>

Inheritance diagram for jsk_pcl_ros::MultiPlaneSACSegmentation:
Inheritance graph
[legend]

List of all members.

Public Types

typedef
jsk_pcl_ros::MultiPlaneSACSegmentationConfig 
Config
typedef
message_filters::Synchronizer
< SyncNormalImuPolicy
NormalImuSynchronizer
typedef pcl::PointXYZRGB PointT
typedef
message_filters::sync_policies::ExactTime
< sensor_msgs::PointCloud2,
jsk_recognition_msgs::ClusterPointIndices > 
SyncClusterPolicy
typedef
message_filters::sync_policies::ApproximateTime
< sensor_msgs::PointCloud2,
sensor_msgs::Imu > 
SyncImuPolicy
typedef
message_filters::sync_policies::ApproximateTime
< sensor_msgs::PointCloud2,
sensor_msgs::PointCloud2,
sensor_msgs::Imu > 
SyncNormalImuPolicy
typedef
message_filters::sync_policies::ExactTime
< sensor_msgs::PointCloud2,
sensor_msgs::PointCloud2 > 
SyncPolicy

Protected Member Functions

virtual void applyRecursiveRANSAC (const pcl::PointCloud< PointT >::Ptr &input, const pcl::PointCloud< pcl::Normal >::Ptr &normal, const Eigen::Vector3f &imu_vector, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients, std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &output_polygons)
virtual void configCallback (Config &config, uint32_t level)
virtual void onInit ()
virtual void publishResult (const std_msgs::Header &header, const std::vector< pcl::PointIndices::Ptr > &inliers, const std::vector< pcl::ModelCoefficients::Ptr > &coefficients, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)
virtual void segment (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void segment (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal)
virtual void segmentWithClusters (const sensor_msgs::PointCloud2::ConstPtr &msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &clusters)
virtual void segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::Imu::ConstPtr &imu)
virtual void segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal, const sensor_msgs::Imu::ConstPtr &imu)
virtual void subscribe ()
virtual void unsubscribe ()

Protected Attributes

double eps_angle_
int max_iterations_
int min_inliers_
int min_points_
int min_trial_
boost::mutex mutex_
double normal_distance_weight_
double outlier_threshold_
ros::Publisher pub_coefficients_
ros::Publisher pub_inliers_
ros::Publisher pub_polygons_
boost::shared_ptr
< dynamic_reconfigure::Server
< Config > > 
srv_
ros::Subscriber sub_
message_filters::Subscriber
< jsk_recognition_msgs::ClusterPointIndices > 
sub_clusters_
message_filters::Subscriber
< sensor_msgs::Imu > 
sub_imu_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > 
sub_input_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > 
sub_normal_
boost::shared_ptr
< message_filters::Synchronizer
< SyncPolicy > > 
sync_
boost::shared_ptr
< message_filters::Synchronizer
< SyncClusterPolicy > > 
sync_cluster_
boost::shared_ptr
< message_filters::Synchronizer
< SyncImuPolicy > > 
sync_imu_
boost::shared_ptr
< message_filters::Synchronizer
< SyncNormalImuPolicy > > 
sync_normal_imu_
tf::TransformListenertf_listener_
bool use_clusters_
bool use_imu_parallel_
bool use_imu_perpendicular_
bool use_normal_

Detailed Description

Definition at line 66 of file multi_plane_sac_segmentation.h.


Member Typedef Documentation

typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig jsk_pcl_ros::MultiPlaneSACSegmentation::Config

Definition at line 70 of file multi_plane_sac_segmentation.h.

Definition at line 87 of file multi_plane_sac_segmentation.h.

Definition at line 69 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncClusterPolicy

Definition at line 76 of file multi_plane_sac_segmentation.h.

Definition at line 80 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::Imu > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncNormalImuPolicy

Definition at line 85 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncPolicy

Definition at line 73 of file multi_plane_sac_segmentation.h.


Member Function Documentation

void jsk_pcl_ros::MultiPlaneSACSegmentation::applyRecursiveRANSAC ( const pcl::PointCloud< PointT >::Ptr &  input,
const pcl::PointCloud< pcl::Normal >::Ptr &  normal,
const Eigen::Vector3f &  imu_vector,
std::vector< pcl::PointIndices::Ptr > &  output_inliers,
std::vector< pcl::ModelCoefficients::Ptr > &  output_coefficients,
std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &  output_polygons 
) [protected, virtual]

Definition at line 154 of file multi_plane_sac_segmentation_nodelet.cpp.

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

Definition at line 142 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::onInit ( void  ) [protected, virtual]
void jsk_pcl_ros::MultiPlaneSACSegmentation::publishResult ( const std_msgs::Header header,
const std::vector< pcl::PointIndices::Ptr > &  inliers,
const std::vector< pcl::ModelCoefficients::Ptr > &  coefficients,
const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &  convexes 
) [protected, virtual]

Definition at line 296 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segment ( const sensor_msgs::PointCloud2::ConstPtr &  msg) [protected, virtual]

Definition at line 396 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segment ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const sensor_msgs::PointCloud2::ConstPtr &  msg_nromal 
) [protected, virtual]

Definition at line 378 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithClusters ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &  clusters 
) [protected, virtual]

Definition at line 262 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const sensor_msgs::Imu::ConstPtr &  imu 
) [protected, virtual]

Definition at line 323 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu ( const sensor_msgs::PointCloud2::ConstPtr &  msg,
const sensor_msgs::PointCloud2::ConstPtr &  msg_nromal,
const sensor_msgs::Imu::ConstPtr &  imu 
) [protected, virtual]

Definition at line 330 of file multi_plane_sac_segmentation_nodelet.cpp.


Member Data Documentation

Definition at line 150 of file multi_plane_sac_segmentation.h.

Definition at line 145 of file multi_plane_sac_segmentation.h.

Definition at line 143 of file multi_plane_sac_segmentation.h.

Definition at line 144 of file multi_plane_sac_segmentation.h.

Definition at line 152 of file multi_plane_sac_segmentation.h.

Definition at line 136 of file multi_plane_sac_segmentation.h.

Definition at line 151 of file multi_plane_sac_segmentation.h.

Definition at line 142 of file multi_plane_sac_segmentation.h.

Definition at line 126 of file multi_plane_sac_segmentation.h.

Definition at line 126 of file multi_plane_sac_segmentation.h.

Definition at line 126 of file multi_plane_sac_segmentation.h.

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

Definition at line 127 of file multi_plane_sac_segmentation.h.

Definition at line 125 of file multi_plane_sac_segmentation.h.

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros::MultiPlaneSACSegmentation::sub_clusters_ [protected]

Definition at line 134 of file multi_plane_sac_segmentation.h.

Definition at line 135 of file multi_plane_sac_segmentation.h.

Definition at line 132 of file multi_plane_sac_segmentation.h.

Definition at line 133 of file multi_plane_sac_segmentation.h.

Definition at line 128 of file multi_plane_sac_segmentation.h.

Definition at line 129 of file multi_plane_sac_segmentation.h.

Definition at line 130 of file multi_plane_sac_segmentation.h.

Definition at line 131 of file multi_plane_sac_segmentation.h.

Definition at line 137 of file multi_plane_sac_segmentation.h.

Definition at line 147 of file multi_plane_sac_segmentation.h.

Definition at line 148 of file multi_plane_sac_segmentation.h.

Definition at line 149 of file multi_plane_sac_segmentation.h.

Definition at line 146 of file multi_plane_sac_segmentation.h.


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


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:51