#include <euclidean_cluster_extraction_nodelet.h>

Inheritance diagram for jsk_pcl_ros::EuclideanClustering:

Public Types
typedef message_filters::sync_policies::ApproximateTime< jsk_recognition_msgs::ClusterPointIndices, sensor_msgs::PointCloud2 >	ApproximateSyncPolicy

typedef jsk_pcl_ros::EuclideanClusteringConfig	Config

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

typedef std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > >	Vector4fVector

Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Public Member Functions
	EuclideanClustering ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

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
virtual std::vector< int >	buildLabelTrackingPivotTable (double *D, Vector4fVector cogs, Vector4fVector new_cogs, double label_tracking_tolerance)

virtual void	clusteringClusterIndices (pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, std::vector< pcl::PointIndices::Ptr > &cluster_indices, std::vector< pcl::PointIndices > &clustered_indices)

virtual void	computeCentroidsOfClusters (Vector4fVector &ret, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, std::vector< pcl::PointIndices > cluster_indices)

virtual void	computeDistanceMatrix (double *D, Vector4fVector &old_cogs, Vector4fVector &new_cogs)

void	configCallback (Config &config, uint32_t level)

void	downsample_cloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &original_cloud, pcl::PointCloud< pcl::PointXYZ >::Ptr &sampled_cloud, std::vector< std::vector< int > > &sampled_to_original_indices, std::vector< int > &original_to_sampled_indices, double leaf_size)

virtual void	extract (const sensor_msgs::PointCloud2ConstPtr &input)

virtual void	multi_extract (const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &cluster_indices, const sensor_msgs::PointCloud2::ConstPtr &input)

virtual void	onInit ()

virtual std::vector< pcl::PointIndices >	pivotClusterIndices (std::vector< int > &pivot_table, std::vector< pcl::PointIndices > &cluster_indices)

virtual void	removeDuplicatedIndices (pcl::PointIndices::Ptr indices)

bool	serviceCallback (jsk_recognition_msgs::EuclideanSegment::Request &req, jsk_recognition_msgs::EuclideanSegment::Response &res)

virtual void	subscribe ()

virtual void	unsubscribe ()

virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

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

Protected Attributes
bool	approximate_sync_

boost::shared_ptr< message_filters::Synchronizer< ApproximateSyncPolicy > >	async_

jsk_recognition_utils::Counter	cluster_counter_

int	cluster_filter_type_

ros::Publisher	cluster_num_pub_

Vector4fVector	cogs_

bool	downsample_

std::vector< std::vector< int > >	downsample_to_original_indices_

jsk_topic_tools::TimeAccumulator	kdtree_acc_

double	label_tracking_tolerance

double	leaf_size_

int	maxsize_

int	minsize_

bool	multi_

boost::mutex	mutex_

std::vector< int >	original_to_downsample_indices_

int	queue_size_

ros::Publisher	result_pub_

jsk_topic_tools::TimeAccumulator	segmentation_acc_

ros::ServiceServer	service_

boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_cluster_indices_

ros::Subscriber	sub_input_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_point_cloud_

boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > >	sync_

double	tolerance

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Detailed Description

Definition at line 71 of file euclidean_cluster_extraction_nodelet.h.

Member Typedef Documentation

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

Definition at line 80 of file euclidean_cluster_extraction_nodelet.h.

typedef jsk_pcl_ros::EuclideanClusteringConfig jsk_pcl_ros::EuclideanClustering::Config

Definition at line 82 of file euclidean_cluster_extraction_nodelet.h.

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

Definition at line 76 of file euclidean_cluster_extraction_nodelet.h.

typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > jsk_pcl_ros::EuclideanClustering::Vector4fVector

Definition at line 85 of file euclidean_cluster_extraction_nodelet.h.

Constructor & Destructor Documentation

jsk_pcl_ros::EuclideanClustering::EuclideanClustering ( )

inline

Definition at line 86 of file euclidean_cluster_extraction_nodelet.h.

Member Function Documentation

std::vector< int > jsk_pcl_ros::EuclideanClustering::buildLabelTrackingPivotTable	(	double *	D,
		Vector4fVector	cogs,
		Vector4fVector	new_cogs,
		double	label_tracking_tolerance
	)

protectedvirtual

Definition at line 487 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::clusteringClusterIndices	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		std::vector< pcl::PointIndices::Ptr > &	cluster_indices,
		std::vector< pcl::PointIndices > &	clustered_indices
	)

protectedvirtual

Definition at line 79 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::computeCentroidsOfClusters	(	Vector4fVector &	ret,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		std::vector< pcl::PointIndices >	cluster_indices
	)

protectedvirtual

Definition at line 557 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::computeDistanceMatrix	(	double *	D,
		Vector4fVector &	old_cogs,
		Vector4fVector &	new_cogs
	)

protectedvirtual

Definition at line 533 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::configCallback	(	Config &	config,
		uint32_t	level
	)

protected

Definition at line 463 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::downsample_cloud	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	original_cloud,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	sampled_cloud,
		std::vector< std::vector< int > > &	sampled_to_original_indices,
		std::vector< int > &	original_to_sampled_indices,
		double	leaf_size
	)

protected

Definition at line 45 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::extract ( const sensor_msgs::PointCloud2ConstPtr & input )

protectedvirtual

Definition at line 216 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::multi_extract	(	const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	cluster_indices,
		const sensor_msgs::PointCloud2::ConstPtr &	input
	)

protectedvirtual

Definition at line 281 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 378 of file euclidean_cluster_extraction_nodelet.cpp.

std::vector< pcl::PointIndices > jsk_pcl_ros::EuclideanClustering::pivotClusterIndices	(	std::vector< int > &	pivot_table,
		std::vector< pcl::PointIndices > &	cluster_indices
	)

protectedvirtual

Definition at line 476 of file euclidean_cluster_extraction_nodelet.cpp.

void jsk_pcl_ros::EuclideanClustering::removeDuplicatedIndices ( pcl::PointIndices::Ptr indices )

protectedvirtual

Definition at line 548 of file euclidean_cluster_extraction_nodelet.cpp.

bool jsk_pcl_ros::EuclideanClustering::serviceCallback	(	jsk_recognition_msgs::EuclideanSegment::Request &	req,
		jsk_recognition_msgs::EuclideanSegment::Response &	res
	)