This class detects the door handle in 3D point clouds. More...

#include <handle_detector.h>

Public Member Functions
void	cloudCallback (const PointCloudType::ConstPtr &msg)
	DoorHandleDetector ()
bool	doorHandleRansac (const PointCloudType &cloud, PointCloudType &handle_cloud, Eigen::Vector3f &door_normal, double &plane_distance_to_origin)
	Assumption: Clouds are in a frame where Z is vertical (up or down does not matter)
void	estimateDoorHandle (const PointCloudType &cloud, PointCloudType &handle_cloud)
	computes angle, stores slope and intercept
bool	serviceCallback (door_perception_msgs::DoorStateSrv::Request &request, door_perception_msgs::DoorStateSrv::Response &response)
bool	switchActive (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	switchInactive (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
Private Attributes
bool	active_
tf::TransformBroadcaster	br_
message_filters::Subscriber < PointCloudType >	cloud_sub_
PointCloudType	cropping_polygon_
ros::Publisher	door_cloud_publisher_
std::string	door_frame_
double	door_radius_
door_perception_msgs::DoorState	door_state_msg_
ros::Publisher	door_state_publisher_
ros::ServiceServer	door_state_service_
std::string	filter_polygon_filename_
ros::Publisher	handle_cloud_publisher_
ros::Publisher	handle_pose_pub_
ros::NodeHandle	node_
ros::ServiceServer	service_off_
ros::ServiceServer	service_on_
tf::MessageFilter < PointCloudType > *	tf_filter_
tf::TransformListener	tfListener_
ros::Publisher	vis_pub_

Detailed Description

This class detects the door handle in 3D point clouds.

This class projects the point cloud into the (tf) door frame (settable via parameter) and crops it to remove the (physical) door frame. It then determines the door plane via RANSAC and assumes the outlying points to be the handle.

Definition at line 25 of file handle_detector.h.

Constructor & Destructor Documentation

DoorHandleDetector::DoorHandleDetector ( )

Definition at line 23 of file handle_detector.cpp.

Member Function Documentation

void DoorHandleDetector::cloudCallback ( const PointCloudType::ConstPtr & msg )

Definition at line 58 of file handle_detector.cpp.

bool DoorHandleDetector::doorHandleRansac	(	const PointCloudType &	cloud,
		PointCloudType &	handle_cloud,
		Eigen::Vector3f &	door_normal,
		double &	plane_distance_to_origin
	)

Assumption: Clouds are in a frame where Z is vertical (up or down does not matter)

Definition at line 115 of file handle_detector.cpp.

void DoorHandleDetector::estimateDoorHandle	(	const PointCloudType &	cloud,
		PointCloudType &	handle_cloud
	)

computes angle, stores slope and intercept

Definition at line 209 of file handle_detector.cpp.

bool DoorHandleDetector::serviceCallback	(	door_perception_msgs::DoorStateSrv::Request &	request,
		door_perception_msgs::DoorStateSrv::Response &	response
	)