#include <hector_barrel_detection_nodelet.h>

Inheritance diagram for hector_barrel_detection_nodelet::BarrelDetection:

Public Member Functions
	BarrelDetection ()

virtual void	onInit ()

virtual	~BarrelDetection ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
void	findCylinder (const sensor_msgs::PointCloud2::ConstPtr &pc_msg, float xKey, float yKey, const geometry_msgs::PointStamped cut_around_keypoint)

void	imageCallback (const sensor_msgs::ImageConstPtr &img, const sensor_msgs::CameraInfoConstPtr &info)

void	PclCallback (const sensor_msgs::PointCloud2::ConstPtr &pc_msg)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Private Types
typedef boost::shared_ptr< image_geometry::PinholeCameraModel >	CameraModelPtr

Private Member Functions
void	dynamic_recf_cb (hector_barrel_detection_nodelet::BarrelDetectionConfig &config, uint32_t level)

void	publish_rectangle_for_recf (std::vector< cv::KeyPoint > keypoints, const sensor_msgs::ImageConstPtr &img, const sensor_msgs::CameraInfoConstPtr &info, cv::Mat &img_filtered)

Private Attributes
ros::Publisher	barrel_marker_publisher_

image_transport::CameraPublisher	black_white_image_pub_

double	bluePart

ros::Publisher	cloud_filtered_publisher_

sensor_msgs::PointCloud2::ConstPtr	current_pc_msg_

ros::Publisher	debug_imagePoint_pub_

dynamic_reconfigure::Server< hector_barrel_detection_nodelet::BarrelDetectionConfig >	dynamic_recf_server

dynamic_reconfigure::Server< hector_barrel_detection_nodelet::BarrelDetectionConfig >::CallbackType	dynamic_recf_type

int	h_max

int	h_min

image_transport::CameraSubscriber	image_sub

ros::Publisher	imagePercept_pub_

tf::TransformListener	listener_

double	maxRadius

double	minRadius

pcl::PassThrough< pcl::PointXYZ >	pass_

ros::Publisher	pcl_debug_pub_

ros::Subscriber	pcl_sub

ros::Publisher	pose_publisher_

ros::Publisher	posePercept_pub_

image_transport::CameraPublisher	pub_imageDetection

int	s_max

int	s_min

Eigen::Affine3d	to_map_

int	v_max

int	v_min

ros::ServiceClient	worldmodel_srv_client_

Detailed Description

Definition at line 50 of file hector_barrel_detection_nodelet.h.

Member Typedef Documentation

typedef boost::shared_ptr<image_geometry::PinholeCameraModel> hector_barrel_detection_nodelet::BarrelDetection::CameraModelPtr

private

Definition at line 63 of file hector_barrel_detection_nodelet.h.

Constructor & Destructor Documentation

hector_barrel_detection_nodelet::BarrelDetection::BarrelDetection ( )

Definition at line 7 of file hector_barrel_detection_nodelet.cpp.

hector_barrel_detection_nodelet::BarrelDetection::~BarrelDetection ( )

virtual

Definition at line 10 of file hector_barrel_detection_nodelet.cpp.

Member Function Documentation

void hector_barrel_detection_nodelet::BarrelDetection::dynamic_recf_cb	(	hector_barrel_detection_nodelet::BarrelDetectionConfig &	config,
		uint32_t	level
	)

private

Definition at line 448 of file hector_barrel_detection_nodelet.cpp.

void hector_barrel_detection_nodelet::BarrelDetection::findCylinder	(	const sensor_msgs::PointCloud2::ConstPtr &	pc_msg,
		float	xKey,
		float	yKey,
		const geometry_msgs::PointStamped	cut_around_keypoint
	)

protected

Definition at line 192 of file hector_barrel_detection_nodelet.cpp.

void hector_barrel_detection_nodelet::BarrelDetection::imageCallback	(	const sensor_msgs::ImageConstPtr &	img,
		const sensor_msgs::CameraInfoConstPtr &	info
	)

protected

Definition at line 49 of file hector_barrel_detection_nodelet.cpp.

void hector_barrel_detection_nodelet::BarrelDetection::onInit ( )

virtual

Implements nodelet::Nodelet.

Definition at line 13 of file hector_barrel_detection_nodelet.cpp.

void hector_barrel_detection_nodelet::BarrelDetection::PclCallback ( const sensor_msgs::PointCloud2::ConstPtr & pc_msg )

protected

Definition at line 187 of file hector_barrel_detection_nodelet.cpp.

void hector_barrel_detection_nodelet::BarrelDetection::publish_rectangle_for_recf	(	std::vector< cv::KeyPoint >	keypoints,
		const sensor_msgs::ImageConstPtr &	img,
		const sensor_msgs::CameraInfoConstPtr &	info,
		cv::Mat &	img_filtered
	)

private

Definition at line 397 of file hector_barrel_detection_nodelet.cpp.

Member Data Documentation

ros::Publisher hector_barrel_detection_nodelet::BarrelDetection::barrel_marker_publisher_

private

Definition at line 69 of file hector_barrel_detection_nodelet.h.

image_transport::CameraPublisher hector_barrel_detection_nodelet::BarrelDetection::black_white_image_pub_

private

Definition at line 79 of file hector_barrel_detection_nodelet.h.

double hector_barrel_detection_nodelet::BarrelDetection::bluePart

private

Definition at line 96 of file hector_barrel_detection_nodelet.h.

ros::Publisher hector_barrel_detection_nodelet::BarrelDetection::cloud_filtered_publisher_

private

Definition at line 67 of file hector_barrel_detection_nodelet.h.

sensor_msgs::PointCloud2::ConstPtr hector_barrel_detection_nodelet::BarrelDetection::current_pc_msg_

private

Definition at line 81 of file hector_barrel_detection_nodelet.h.

ros::Publisher hector_barrel_detection_nodelet::BarrelDetection::debug_imagePoint_pub_

private

Definition at line 77 of file hector_barrel_detection_nodelet.h.

dynamic_reconfigure::Server<hector_barrel_detection_nodelet::BarrelDetectionConfig> hector_barrel_detection_nodelet::BarrelDetection::dynamic_recf_server

private

Definition at line 84 of file hector_barrel_detection_nodelet.h.

dynamic_reconfigure::Server<hector_barrel_detection_nodelet::BarrelDetectionConfig>::CallbackType hector_barrel_detection_nodelet::BarrelDetection::dynamic_recf_type

private

Definition at line 85 of file hector_barrel_detection_nodelet.h.

int hector_barrel_detection_nodelet::BarrelDetection::h_max

private

Definition at line 95 of file hector_barrel_detection_nodelet.h.

int hector_barrel_detection_nodelet::BarrelDetection::h_min

private

Definition at line 94 of file hector_barrel_detection_nodelet.h.

image_transport::CameraSubscriber hector_barrel_detection_nodelet::BarrelDetection::image_sub

private

Definition at line 66 of file hector_barrel_detection_nodelet.h.

ros::Publisher hector_barrel_detection_nodelet::BarrelDetection::imagePercept_pub_