PokePointFinder Class Reference

Public Member Functions
bool	convertPointNormalstoGraps (pcl::PointCloud< pcl::PointNormal > &cloud, std::vector< Eigen::Matrix4f > &poses)
bool	get3dPoints (const pr2_interactive_segmentation::cornerFind::Response &res, pcl::PointCloud< pcl::PointNormal > &grasp_points)
bool	get3dRandomPoint (randomPoint &random, pcl::PointCloud< pcl::PointNormal > &grasp_points)
bool	getCornersToPush (cv::Mat &topview, pr2_interactive_segmentation::cornerFind::Response &res)
bool	getPokePointServiceCB (pr2_interactive_segmentation::cornerPokePoseFind::Request &req, pr2_interactive_segmentation::cornerPokePoseFind::Response &res)
bool	getRandomPoint (cv::Mat &topview, randomPoint &random)
bool	getTopView (cv::Mat &topview)
	PokePointFinder ()
Private Types
typedef pcl::PointXYZRGB	Point
Private Attributes
sensor_msgs::CvBridge	_bridge
sensor_msgs::CameraInfoConstPtr	_cam_info
ros::ServiceClient	_corner_finder
ros::ServiceServer	_getMaskServer
double	_max_height_z
image_geometry::PinholeCameraModel	_model
ros::NodeHandle	_nh
ros::NodeHandle	_nh_private
double	_tolerance_x
double	_tolerance_y
std::string	base_frame
pcl::ModelCoefficients::Ptr	coefficients
float	dot_threshold
tf::TransformListener	listener_
int	morphology_param
std::string	point_cloud
ros::Publisher	pub
double	push_distance
int	random_pushing
ROI_Filter< Point >	roi_filter
double	table_height
tf::Transform	tf_virtual_cam
tf::Transform	tf_virtual_cam_transl
double	virtual_cam_x
double	virtual_cam_z

Detailed Description

Definition at line 92 of file find_poke_point.cpp.

typedef pcl::PointXYZRGB PokePointFinder::Point [private]

Definition at line 94 of file find_poke_point.cpp.

PokePointFinder::PokePointFinder ( ) [inline]

Definition at line 130 of file find_poke_point.cpp.

bool PokePointFinder::convertPointNormalstoGraps	(	pcl::PointCloud< pcl::PointNormal > &	cloud,
		std::vector< Eigen::Matrix4f > &	poses
	)			`[inline]`

Definition at line 916 of file find_poke_point.cpp.

bool PokePointFinder::get3dPoints	(	const pr2_interactive_segmentation::cornerFind::Response &	res,
		pcl::PointCloud< pcl::PointNormal > &	grasp_points
	)			`[inline]`

Definition at line 784 of file find_poke_point.cpp.

bool PokePointFinder::get3dRandomPoint	(	randomPoint &	random,
		pcl::PointCloud< pcl::PointNormal > &	grasp_points
	)			`[inline]`

Definition at line 848 of file find_poke_point.cpp.

bool PokePointFinder::getCornersToPush	(	cv::Mat &	topview,
		pr2_interactive_segmentation::cornerFind::Response &	res
	)			`[inline]`

Definition at line 772 of file find_poke_point.cpp.

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