#include <plane_supported_cuboid_estimator.h>

Inheritance diagram for jsk_pcl_ros::PlaneSupportedCuboidEstimator:

Public Types
typedef PlaneSupportedCuboidEstimatorConfig	Config
typedef pcl::tracking::ParticleCuboid	Particle
typedef pcl::PointCloud< Particle >	ParticleCloud
typedef message_filters::sync_policies::ExactTime < jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray >	PolygonSyncPolicy
typedef boost::shared_ptr < PlaneSupportedCuboidEstimator >	Ptr
Public Member Functions
	PlaneSupportedCuboidEstimator ()
Protected Member Functions
virtual size_t	chooseUniformRandomPlaneIndex (const std::vector< Polygon::Ptr > &polygons)
virtual void	cloudCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	configCallback (Config &config, uint32_t level)
virtual void	estimate (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	fastCloudCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual size_t	getNearestPolygon (const Particle &p, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &polygons)
	Compute the nearest polygon to the particle `p'.
virtual pcl::PointCloud < pcl::tracking::ParticleCuboid > ::Ptr	initParticles ()
virtual void	likelihood (pcl::PointCloud< pcl::PointXYZ >::ConstPtr input, pcl::tracking::ParticleCuboid &p)
virtual void	onInit ()
virtual void	polygonCallback (const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coef_msg)
virtual void	publishHistogram (ParticleCloud::Ptr particles, int index, ros::Publisher &pub, const std_msgs::Header &header)
virtual bool	resetCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
virtual pcl::tracking::ParticleCuboid	sample (const pcl::tracking::ParticleCuboid &p)
virtual void	subscribe ()
virtual void	unsubscribe ()
virtual void	updateParticlePolygonRelationship (ParticleCloud::Ptr particles)
	Compute distances between particles and polygons and assing each particle to the nearest polygon. This method is called only if the "polygon sensor" measurement is updated. For simplicity, this method expects convex polygon.
Protected Attributes
pcl::PointCloud< pcl::PointXYZ > ::Ptr	candidate_cloud_
Config	config_
bool	disable_init_pitch_
bool	disable_init_roll_
double	fast_cloud_threshold_
double	init_dx_mean_
double	init_dx_variance_
double	init_dy_mean_
double	init_dy_variance_
double	init_dz_mean_
double	init_dz_variance_
double	init_global_orientation_yaw_mean_
double	init_global_orientation_yaw_variance_
double	init_local_orientation_pitch_mean_
double	init_local_orientation_pitch_variance_
double	init_local_orientation_roll_mean_
double	init_local_orientation_roll_variance_
double	init_local_orientation_yaw_mean_
double	init_local_orientation_yaw_variance_
double	init_local_position_z_max_
double	init_local_position_z_min_
double	init_world_position_z_max_
double	init_world_position_z_min_
jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr	latest_coefficients_msg_
jsk_recognition_msgs::PolygonArray::ConstPtr	latest_polygon_msg_
double	min_dx_
double	min_dy_
double	min_dz_
boost::mutex	mutex_
int	particle_num_
std::vector< Polygon::Ptr >	polygons_
ros::Publisher	pub_candidate_cloud_
ros::Publisher	pub_histogram_dx_
ros::Publisher	pub_histogram_dy_
ros::Publisher	pub_histogram_dz_
ros::Publisher	pub_histogram_global_pitch_
ros::Publisher	pub_histogram_global_roll_
ros::Publisher	pub_histogram_global_x_
ros::Publisher	pub_histogram_global_y_
ros::Publisher	pub_histogram_global_yaw_
ros::Publisher	pub_histogram_global_z_
ros::Publisher	pub_particles_
ros::Publisher	pub_result_
ros::Publisher	pub_result_pose_
boost::mt19937	random_generator_
std::string	sensor_frame_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::ServiceServer	srv_reset_
double	step_dx_variance_
double	step_dy_variance_
double	step_dz_variance_
double	step_pitch_variance_
double	step_roll_variance_
double	step_x_variance_
double	step_y_variance_
double	step_yaw_variance_
double	step_z_variance_
ros::Subscriber	sub_cloud_
message_filters::Subscriber < jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_
ros::Subscriber	sub_fast_cloud_
message_filters::Subscriber < jsk_recognition_msgs::PolygonArray >	sub_polygon_
bool	support_plane_updated_
boost::shared_ptr < message_filters::Synchronizer < PolygonSyncPolicy > >	sync_polygon_
tf::TransformListener *	tf_
pcl::tracking::ROSCollaborativeParticleFilterTracker < pcl::PointXYZ, pcl::tracking::ParticleCuboid > ::Ptr	tracker_
pcl::KdTreeFLANN< pcl::PointXYZ >	tree_
bool	use_global_init_yaw_
bool	use_init_polygon_likelihood_
bool	use_init_world_position_z_model_
Eigen::Vector3f	viewpoint_

Detailed Description

Definition at line 268 of file plane_supported_cuboid_estimator.h.

Member Typedef Documentation

typedef PlaneSupportedCuboidEstimatorConfig jsk_pcl_ros::PlaneSupportedCuboidEstimator::Config

Definition at line 274 of file plane_supported_cuboid_estimator.h.

typedef pcl::tracking::ParticleCuboid jsk_pcl_ros::PlaneSupportedCuboidEstimator::Particle

Definition at line 271 of file plane_supported_cuboid_estimator.h.

typedef pcl::PointCloud<Particle> jsk_pcl_ros::PlaneSupportedCuboidEstimator::ParticleCloud

Definition at line 272 of file plane_supported_cuboid_estimator.h.

typedef message_filters::sync_policies::ExactTime< jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros::PlaneSupportedCuboidEstimator::PolygonSyncPolicy

Definition at line 277 of file plane_supported_cuboid_estimator.h.

typedef boost::shared_ptr<PlaneSupportedCuboidEstimator> jsk_pcl_ros::PlaneSupportedCuboidEstimator::Ptr

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 273 of file plane_supported_cuboid_estimator.h.

Constructor & Destructor Documentation

jsk_pcl_ros::PlaneSupportedCuboidEstimator::PlaneSupportedCuboidEstimator ( ) [inline]

Definition at line 279 of file plane_supported_cuboid_estimator.h.

Member Function Documentation

size_t jsk_pcl_ros::PlaneSupportedCuboidEstimator::chooseUniformRandomPlaneIndex ( const std::vector< Polygon::Ptr > & polygons ) [protected, virtual]

Definition at line 410 of file plane_supported_cuboid_estimator_nodelet.cpp.

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

Definition at line 272 of file plane_supported_cuboid_estimator_nodelet.cpp.

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

Definition at line 488 of file plane_supported_cuboid_estimator_nodelet.cpp.

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

Definition at line 161 of file plane_supported_cuboid_estimator_nodelet.cpp.

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

Definition at line 146 of file plane_supported_cuboid_estimator_nodelet.cpp.

size_t jsk_pcl_ros::PlaneSupportedCuboidEstimator::getNearestPolygon	(	const Particle &	p,
		const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	polygons
	)		`[protected, virtual]`

Compute the nearest polygon to the particle `p'.

Definition at line 98 of file plane_supported_cuboid_estimator_nodelet.cpp.

pcl::PointCloud< pcl::tracking::ParticleCuboid >::Ptr jsk_pcl_ros::PlaneSupportedCuboidEstimator::initParticles ( ) [protected, virtual]

Definition at line 435 of file plane_supported_cuboid_estimator_nodelet.cpp.

void jsk_pcl_ros::PlaneSupportedCuboidEstimator::likelihood	(	pcl::PointCloud< pcl::PointXYZ >::ConstPtr	input,
		pcl::tracking::ParticleCuboid &	p
	)		`[protected, virtual]`

Definition at line 392 of file plane_supported_cuboid_estimator_nodelet.cpp.

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

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 51 of file plane_supported_cuboid_estimator_nodelet.cpp.

void jsk_pcl_ros::PlaneSupportedCuboidEstimator::polygonCallback	(	const jsk_recognition_msgs::PolygonArray::ConstPtr &	polygon_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coef_msg
	)		`[protected, virtual]`

Definition at line 400 of file plane_supported_cuboid_estimator_nodelet.cpp.

void jsk_pcl_ros::PlaneSupportedCuboidEstimator::publishHistogram	(	ParticleCloud::Ptr	particles,
		int	index,
		ros::Publisher &	pub,
		const std_msgs::Header &	header
	)		`[protected, virtual]`

Definition at line 331 of file plane_supported_cuboid_estimator_nodelet.cpp.

bool jsk_pcl_ros::PlaneSupportedCuboidEstimator::resetCallback	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)		`[protected, virtual]`

Definition at line 531 of file plane_supported_cuboid_estimator_nodelet.cpp.

pcl::tracking::ParticleCuboid jsk_pcl_ros::PlaneSupportedCuboidEstimator::sample ( const pcl::tracking::ParticleCuboid & p ) [protected, virtual]

Definition at line 363 of file plane_supported_cuboid_estimator_nodelet.cpp.

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

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 88 of file plane_supported_cuboid_estimator_nodelet.cpp.

void jsk_pcl_ros::PlaneSupportedCuboidEstimator::unsubscribe ( ) [protected, virtual]

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 93 of file plane_supported_cuboid_estimator_nodelet.cpp.

void jsk_pcl_ros::PlaneSupportedCuboidEstimator::updateParticlePolygonRelationship ( ParticleCloud::Ptr particles ) [protected, virtual]

Compute distances between particles and polygons and assing each particle to the nearest polygon. This method is called only if the "polygon sensor" measurement is updated. For simplicity, this method expects convex polygon.

Definition at line 118 of file plane_supported_cuboid_estimator_nodelet.cpp.