fast_plane_detection::FastPlaneDetector Class Reference

List of all members.

Public Member Functions
	FastPlaneDetector (int buffer_size)
void	planeCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
	Callback for disparity image messages.
	~FastPlaneDetector ()
Public Attributes
Plane	plane_
	the plane
Private Member Functions
void	clearOldMarkers (std::string frame_id)
void	maskDisparityImage (const stereo_msgs::DisparityImage::ConstPtr &disparity_image, const sensor_msgs::Image &labels, stereo_msgs::DisparityImage &masked_disparity)
Private Attributes
int	buffer_size_
	Buffer size for callbacks.
sensor_msgs::CameraInfo::ConstPtr	camera_info_
	camera info (needs to be obtained only once)
ros::Subscriber	camera_info_sub_
	Subscriber to camera info.
std::string	camera_info_topic_
int	current_marker_id_
	The current marker being published.
stereo_msgs::DisparityImage::ConstPtr	disparity_image_
	disparity image (needs to be obtained always)
ros::Publisher	disparity_image_pub_
	Publisher to Filtered Disparity Images.
ros::Subscriber	disparity_image_sub_
	Subscriber to disparity images.
std::string	disparity_image_topic_
bool	find_table_
	whether to restrict search for plane to table like orientation
image_transport::Publisher	image_pub_
	Publishing images (for debug only).
int	inlier_threshold_
	Minimum number of points necessary to pass a plane detection.
int	num_markers_published_
	Used to remember the number of markers we publish so we can delete them later.
PlaneDetection *	plane_detect_
	plane detection object
ros::Publisher	plane_marker_pub_
	Publisher to Plane Parameters.
ros::Publisher	plane_msg_pub_
	Publisher to Plane Parameters.
PlaneTransform *	plane_transform_
	object for transforming from x,y,d space to x,y,z
ros::NodeHandle	priv_nh_
	Node handle in the private namespace.
ros::NodeHandle	root_nh_
	The node handle.
double	up_direction_
	Which direction along optical axis is pointing best towards up direction.

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Detailed Description

Definition at line 54 of file fast_plane_detector_node.cpp.

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Constructor & Destructor Documentation

fast_plane_detection::FastPlaneDetector::FastPlaneDetector

(

int

buffer_size

)

Publisher for labeled images

Definition at line 141 of file fast_plane_detector_node.cpp.

fast_plane_detection::FastPlaneDetector::~FastPlaneDetector

(

)

Definition at line 219 of file fast_plane_detector_node.cpp.

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Member Function Documentation

void fast_plane_detection::FastPlaneDetector::clearOldMarkers

(

std::string

frame_id

)

[private]

Definition at line 297 of file fast_plane_detector_node.cpp.

void fast_plane_detection::FastPlaneDetector::maskDisparityImage	(	const stereo_msgs::DisparityImage::ConstPtr &	disparity_image,
		const sensor_msgs::Image &	labels,
		stereo_msgs::DisparityImage &	masked_disparity
	)			[private]

Definition at line 319 of file fast_plane_detector_node.cpp.

void fast_plane_detection::FastPlaneDetector::planeCallback

(

const stereo_msgs::DisparityImage::ConstPtr &

disparity_image

)

Callback for disparity image messages.

Definition at line 223 of file fast_plane_detector_node.cpp.

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Member Data Documentation

int fast_plane_detection::FastPlaneDetector::buffer_size_ [private]

Buffer size for callbacks.

Definition at line 80 of file fast_plane_detector_node.cpp.

sensor_msgs::CameraInfo::ConstPtr fast_plane_detection::FastPlaneDetector::camera_info_ [private]

camera info (needs to be obtained only once)

Definition at line 86 of file fast_plane_detector_node.cpp.

ros::Subscriber fast_plane_detection::FastPlaneDetector::camera_info_sub_ [private]

Subscriber to camera info.

Definition at line 72 of file fast_plane_detector_node.cpp.

std::string fast_plane_detection::FastPlaneDetector::camera_info_topic_ [private]

Definition at line 73 of file fast_plane_detector_node.cpp.

int fast_plane_detection::FastPlaneDetector::current_marker_id_ [private]

The current marker being published.

Definition at line 120 of file fast_plane_detector_node.cpp.

stereo_msgs::DisparityImage::ConstPtr fast_plane_detection::FastPlaneDetector::disparity_image_ [private]

disparity image (needs to be obtained always)

Definition at line 83 of file fast_plane_detector_node.cpp.

ros::Publisher fast_plane_detection::FastPlaneDetector::disparity_image_pub_ [private]

Publisher to Filtered Disparity Images.

Definition at line 95 of file fast_plane_detector_node.cpp.

ros::Subscriber fast_plane_detection::FastPlaneDetector::disparity_image_sub_ [private]

Subscriber to disparity images.

Definition at line 76 of file fast_plane_detector_node.cpp.

std::string fast_plane_detection::FastPlaneDetector::disparity_image_topic_ [private]

Definition at line 77 of file fast_plane_detector_node.cpp.

bool fast_plane_detection::FastPlaneDetector::find_table_ [private]

whether to restrict search for plane to table like orientation

Definition at line 106 of file fast_plane_detector_node.cpp.

image_transport::Publisher fast_plane_detection::FastPlaneDetector::image_pub_ [private]

Publishing images (for debug only).

Definition at line 98 of file fast_plane_detector_node.cpp.

int fast_plane_detection::FastPlaneDetector::inlier_threshold_ [private]

Minimum number of points necessary to pass a plane detection.

Definition at line 115 of file fast_plane_detector_node.cpp.

int fast_plane_detection::FastPlaneDetector::num_markers_published_ [private]

Used to remember the number of markers we publish so we can delete them later.

Definition at line 118 of file fast_plane_detector_node.cpp.

Plane fast_plane_detection::FastPlaneDetector::plane_

the plane

Definition at line 136 of file fast_plane_detector_node.cpp.

PlaneDetection* fast_plane_detection::FastPlaneDetector::plane_detect_ [private]

plane detection object

Definition at line 103 of file fast_plane_detector_node.cpp.

ros::Publisher fast_plane_detection::FastPlaneDetector::plane_marker_pub_ [private]

Publisher to Plane Parameters.

Definition at line 89 of file fast_plane_detector_node.cpp.

ros::Publisher fast_plane_detection::FastPlaneDetector::plane_msg_pub_ [private]

Publisher to Plane Parameters.

Definition at line 92 of file fast_plane_detector_node.cpp.

PlaneTransform* fast_plane_detection::FastPlaneDetector::plane_transform_ [private]

object for transforming from x,y,d space to x,y,z

Definition at line 109 of file fast_plane_detector_node.cpp.

ros::NodeHandle fast_plane_detection::FastPlaneDetector::priv_nh_ [private]

Node handle in the private namespace.

Definition at line 69 of file fast_plane_detector_node.cpp.

ros::NodeHandle fast_plane_detection::FastPlaneDetector::root_nh_ [private]

The node handle.

Definition at line 67 of file fast_plane_detector_node.cpp.

double fast_plane_detection::FastPlaneDetector::up_direction_ [private]

Which direction along optical axis is pointing best towards up direction.

Definition at line 112 of file fast_plane_detector_node.cpp.

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

• fast_plane_detector_node.cpp