DepthTransfomer Class Reference

Public Member Functions
	DepthTransfomer ()
int	estimateRigidTransform2DRansac (std::vector< cv::Point2d > &features_old, std::vector< cv::Point2d > &features_new, cv::Mat &depth_image_old, cv::Mat &depth_image_new, std::string depth_frame, std::vector< int > &inliers, float residual_error)
bool	estimateRigidTransform2DRansacCB (pr2_interactive_segmentation::estimateRigid::Request &req, pr2_interactive_segmentation::estimateRigid::Response &res)
bool	getDepthImage (pcl::PointCloud< Point >::Ptr cloud_in, cv::Mat &depth_image_new)
bool	getPokePointServiceCB (pr2_interactive_segmentation::depthImage::Request &req, pr2_interactive_segmentation::depthImage::Response &res)
Private Types
typedef pcl::PointXYZ	Point
Private Attributes
sensor_msgs::CvBridge	_bridge
sensor_msgs::CameraInfoPtr	_cam_info_new
ros::ServiceServer	_estimateRigidServer
ros::ServiceServer	_getMaskServer
image_geometry::PinholeCameraModel	_model_new
ros::NodeHandle	_nh
ros::NodeHandle	_nh_private
std::string	base_frame
pcl::ModelCoefficients::Ptr	coefficients
cv::Mat	last_depth
tf::TransformListener	listener_
int	num_max_dilations
std::string	point_cloud_topic
ROI_Filter< Point >	roi_filter
tf::Transform	tf_virtual_cam
tf::Transform	tf_virtual_cam_transl
double	virtual_cam_x
double	virtual_cam_z
Static Private Attributes
static unsigned char	colormap []

Detailed Description

Definition at line 364 of file transform_depth_image.cpp.

typedef pcl::PointXYZ DepthTransfomer::Point [private]

Definition at line 366 of file transform_depth_image.cpp.

DepthTransfomer::DepthTransfomer ( ) [inline]

Definition at line 412 of file transform_depth_image.cpp.

int DepthTransfomer::estimateRigidTransform2DRansac	(	std::vector< cv::Point2d > &	features_old,
		std::vector< cv::Point2d > &	features_new,
		cv::Mat &	depth_image_old,
		cv::Mat &	depth_image_new,
		std::string	depth_frame,
		std::vector< int > &	inliers,
		float	residual_error
	)			`[inline]`

Definition at line 701 of file transform_depth_image.cpp.

bool DepthTransfomer::estimateRigidTransform2DRansacCB	(	pr2_interactive_segmentation::estimateRigid::Request &	req,
		pr2_interactive_segmentation::estimateRigid::Response &	res
	)			`[inline]`

Definition at line 664 of file transform_depth_image.cpp.

bool DepthTransfomer::getDepthImage	(	pcl::PointCloud< Point >::Ptr	cloud_in,
		cv::Mat &	depth_image_new
	)			`[inline]`

Definition at line 498 of file transform_depth_image.cpp.

bool DepthTransfomer::getPokePointServiceCB	(	pr2_interactive_segmentation::depthImage::Request &	req,
		pr2_interactive_segmentation::depthImage::Response &	res
	)			`[inline]`