#include <plane_concatenator.h>

Inheritance diagram for jsk_pcl_ros_utils::PlaneConcatenator:

Public Types
typedef PlaneConcatenatorConfig	Config

typedef pcl::PointXYZRGB	PointT

typedef boost::shared_ptr< PlaneConcatenator >	Ptr

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

Public Member Functions
	PlaneConcatenator ()

virtual	~PlaneConcatenator ()

Protected Member Functions
virtual void	concatenate (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_array_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_array_msg)

virtual void	configCallback (Config &config, uint32_t level)

virtual void	forceToDirectOrigin (const pcl::ModelCoefficients::Ptr &coefficients, pcl::ModelCoefficients::Ptr &output_coefficients)

virtual bool	isNearPointCloud (pcl::KdTreeFLANN< PointT > &kdtree, pcl::PointCloud< PointT >::Ptr cloud, jsk_recognition_utils::Plane::Ptr target_plane)

virtual void	onInit ()

virtual pcl::ModelCoefficients::Ptr	refinement (pcl::PointCloud< PointT >::Ptr cloud, pcl::PointIndices::Ptr indices, pcl::ModelCoefficients::Ptr original_coefficients)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Attributes
double	connect_angular_threshold_

double	connect_distance_threshold_

double	connect_perpendicular_distance_threshold_

double	max_area_

double	min_area_

int	min_size_

boost::mutex	mutex_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_indices_

ros::Publisher	pub_polygon_

double	ransac_refinement_eps_angle_

double	ransac_refinement_eps_distance_

int	ransac_refinement_max_iteration_

double	ransac_refinement_outlier_threshold_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_indices_

message_filters::Subscriber< jsk_recognition_msgs::PolygonArray >	sub_polygon_

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

Detailed Description

Definition at line 87 of file plane_concatenator.h.

Member Typedef Documentation

◆ Config

typedef PlaneConcatenatorConfig jsk_pcl_ros_utils::PlaneConcatenator::Config

Definition at line 123 of file plane_concatenator.h.

◆ PointT

typedef pcl::PointXYZRGB jsk_pcl_ros_utils::PlaneConcatenator::PointT

Definition at line 124 of file plane_concatenator.h.

◆ Ptr

typedef boost::shared_ptr<PlaneConcatenator> jsk_pcl_ros_utils::PlaneConcatenator::Ptr

Definition at line 122 of file plane_concatenator.h.

◆ SyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray > jsk_pcl_ros_utils::PlaneConcatenator::SyncPolicy

Definition at line 130 of file plane_concatenator.h.

Constructor & Destructor Documentation

◆ PlaneConcatenator()

jsk_pcl_ros_utils::PlaneConcatenator::PlaneConcatenator ( )

inline

Definition at line 131 of file plane_concatenator.h.

◆ ~PlaneConcatenator()

jsk_pcl_ros_utils::PlaneConcatenator::~PlaneConcatenator ( )

virtual

Definition at line 66 of file plane_concatenator_nodelet.cpp.

Member Function Documentation

◆ concatenate()

void jsk_pcl_ros_utils::PlaneConcatenator::concatenate	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	indices_msg,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	polygon_array_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coefficients_array_msg
	)

protectedvirtual

Definition at line 98 of file plane_concatenator_nodelet.cpp.

◆ configCallback()

void jsk_pcl_ros_utils::PlaneConcatenator::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 269 of file plane_concatenator_nodelet.cpp.

◆ forceToDirectOrigin()

void jsk_pcl_ros_utils::PlaneConcatenator::forceToDirectOrigin	(	const pcl::ModelCoefficients::Ptr &	coefficients,
		pcl::ModelCoefficients::Ptr &	output_coefficients
	)

protectedvirtual

Definition at line 285 of file plane_concatenator_nodelet.cpp.

◆ isNearPointCloud()

bool jsk_pcl_ros_utils::PlaneConcatenator::isNearPointCloud	(	pcl::KdTreeFLANN< PointT > &	kdtree,
		pcl::PointCloud< PointT >::Ptr	cloud,
		jsk_recognition_utils::Plane::Ptr	target_plane
	)

protectedvirtual

Definition at line 242 of file plane_concatenator_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros_utils::PlaneConcatenator::onInit ( )

protectedvirtual

Definition at line 46 of file plane_concatenator_nodelet.cpp.

◆ refinement()

pcl::ModelCoefficients::Ptr jsk_pcl_ros_utils::PlaneConcatenator::refinement	(	pcl::PointCloud< PointT >::Ptr	cloud,
		pcl::PointIndices::Ptr	indices,
		pcl::ModelCoefficients::Ptr	original_coefficients
	)

protectedvirtual

Definition at line 206 of file plane_concatenator_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros_utils::PlaneConcatenator::subscribe ( )

protectedvirtual

Definition at line 77 of file plane_concatenator_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros_utils::PlaneConcatenator::unsubscribe ( )

protectedvirtual

Definition at line 90 of file plane_concatenator_nodelet.cpp.

Member Data Documentation

◆ connect_angular_threshold_

double jsk_pcl_ros_utils::PlaneConcatenator::connect_angular_threshold_

protected

Definition at line 173 of file plane_concatenator.h.

◆ connect_distance_threshold_

double jsk_pcl_ros_utils::PlaneConcatenator::connect_distance_threshold_

protected

Definition at line 174 of file plane_concatenator.h.

◆ connect_perpendicular_distance_threshold_

double jsk_pcl_ros_utils::PlaneConcatenator::connect_perpendicular_distance_threshold_

protected

Definition at line 175 of file plane_concatenator.h.

◆ max_area_

double jsk_pcl_ros_utils::PlaneConcatenator::max_area_

protected

Definition at line 182 of file plane_concatenator.h.

◆ min_area_

double jsk_pcl_ros_utils::PlaneConcatenator::min_area_

protected

Definition at line 181 of file plane_concatenator.h.

◆ min_size_

int jsk_pcl_ros_utils::PlaneConcatenator::min_size_

protected

Definition at line 180 of file plane_concatenator.h.

◆ mutex_

boost::mutex jsk_pcl_ros_utils::PlaneConcatenator::mutex_

protected

Definition at line 165 of file plane_concatenator.h.

◆ pub_coefficients_

ros::Publisher jsk_pcl_ros_utils::PlaneConcatenator::pub_coefficients_

protected

Definition at line 169 of file plane_concatenator.h.

◆ pub_indices_

ros::Publisher jsk_pcl_ros_utils::PlaneConcatenator::pub_indices_

protected

Definition at line 167 of file plane_concatenator.h.

◆ pub_polygon_

ros::Publisher jsk_pcl_ros_utils::PlaneConcatenator::pub_polygon_

protected

Definition at line 168 of file plane_concatenator.h.

◆ ransac_refinement_eps_angle_

double jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_eps_angle_

protected

Definition at line 179 of file plane_concatenator.h.

◆ ransac_refinement_eps_distance_

double jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_eps_distance_

protected

Definition at line 178 of file plane_concatenator.h.

◆ ransac_refinement_max_iteration_

int jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_max_iteration_

protected

Definition at line 176 of file plane_concatenator.h.

◆ ransac_refinement_outlier_threshold_

double jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_outlier_threshold_

protected

Definition at line 177 of file plane_concatenator.h.

◆ srv_

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

protected

Definition at line 166 of file plane_concatenator.h.

◆ sub_cloud_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros_utils::PlaneConcatenator::sub_cloud_

protected

Definition at line 160 of file plane_concatenator.h.

◆ sub_coefficients_

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros_utils::PlaneConcatenator::sub_coefficients_

protected

Definition at line 163 of file plane_concatenator.h.

◆ sub_indices_

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros_utils::PlaneConcatenator::sub_indices_

protected

Definition at line 161 of file plane_concatenator.h.

◆ sub_polygon_

message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> jsk_pcl_ros_utils::PlaneConcatenator::sub_polygon_

protected

Definition at line 162 of file plane_concatenator.h.

◆ sync_

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

protected

Definition at line 164 of file plane_concatenator.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Config

◆ PointT

◆ Ptr

◆ SyncPolicy

Constructor & Destructor Documentation

◆ PlaneConcatenator()

◆ ~PlaneConcatenator()

Member Function Documentation

◆ concatenate()

◆ configCallback()

◆ forceToDirectOrigin()

◆ isNearPointCloud()

◆ onInit()

◆ refinement()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ connect_angular_threshold_

◆ connect_distance_threshold_

◆ connect_perpendicular_distance_threshold_

◆ max_area_

◆ min_area_

◆ min_size_

◆ mutex_

◆ pub_coefficients_

◆ pub_indices_

◆ pub_polygon_

◆ ransac_refinement_eps_angle_

◆ ransac_refinement_eps_distance_

◆ ransac_refinement_max_iteration_

◆ ransac_refinement_outlier_threshold_

◆ srv_

◆ sub_cloud_

◆ sub_coefficients_

◆ sub_indices_

◆ sub_polygon_

◆ sync_