Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
fast_plane_detection::FastRegionPlaneDetector Class Reference

List of all members.

Public Member Functions

 FastRegionPlaneDetector (int buffer_size)
 FastRegionPlaneDetector (int buffer_size)
 FastRegionPlaneDetector (int buffer_size)
void planeCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
 Callback for disparity image messages.
void planeCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
 Callback for disparity image messages.
void planeCallback (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
 Callback for disparity image messages.
void Pr2Callback (const fast_plane_detection::SlavePoint msg_pose)
 Subscriber for slave Position.
bool setPosition (fast_plane_detection::SetPosition::Request &req, fast_plane_detection::SetPosition::Response &resp)
bool setPosition (fast_plane_detection::SetPosition::Request &req, fast_plane_detection::SetPosition::Response &resp)
bool setPosition (fast_plane_detection::SetPosition::Request &req, fast_plane_detection::SetPosition::Response &resp)
 Service call to Slave Position.
 ~FastRegionPlaneDetector ()
 ~FastRegionPlaneDetector ()
 ~FastRegionPlaneDetector ()

Public Attributes

Plane plane_
 the plane

Private Member Functions

bool maskDisparityImage (const stereo_msgs::DisparityImage::ConstPtr &disparity, const sensor_msgs::CameraInfo::ConstPtr &camera_info, const stereo_msgs::DisparityImage::Ptr &masked_disparity)
bool maskDisparityImage (const stereo_msgs::DisparityImage::ConstPtr &disparity, const stereo_msgs::DisparityImage::Ptr &masked_disparity)
bool maskDisparityImage (const stereo_msgs::DisparityImage::ConstPtr &disparity, const sensor_msgs::CameraInfo::ConstPtr &camera_info, const stereo_msgs::DisparityImage::Ptr &masked_disparity)

Private Attributes

int buffer_size_
 Buffer size for callbacks.
std::string camera_frame_
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_
float cx_
float cy_
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_
stereo_msgs::DisparityImage disparity_masked_
 masked disparity image
stereo_msgs::DisparityImage::Ptr disparity_masked_ptr
bool find_table_
 whether to restrict search for plane to table like orientation
float fx_
float fy_
std_msgs::ColorRGBA green_
ros::Publisher hist_image_pub_
 Publisher to Histogram Images.
ros::Publisher hist_image_x_pub_
bool in_contact_
int inlier_threshold_
 Minimum number of points necessary to pass a plane detection.
ros::Publisher labels_pub_
 Publisher for Labeled Image.
tf::TransformListener listener_
tf::TransformListener listener_check2_
tf::TransformListener listener_check_
bool manual_
int marker2_id_
int marker_id_
float mean_error_
int number_inliers_
double percentage_inliers_
PlaneDetectionplane_detect_
 plane detection object
PlaneDetectionplane_detect_x_
 plane detection object
PlaneDetectionplane_detect_y_
 plane detection object
ros::Publisher plane_marker_pub_
 Publisher to Plane Parameters.
ros::Publisher plane_msg_pub_
 Publisher to Plane Parameters.
PlaneTransformplane_transform_
 object for transforming from x,y,d space to x,y,z
geometry_msgs::Vector3Stamped point_
 INPUT THAT SHOULD COME FROM ROBOT POSITION PUBLISHER.
ros::Publisher pos_marker_pub_
 Publisher to slave Position.
ros::NodeHandle priv_nh_
 Node handle in the private namespace.
std_msgs::ColorRGBA red_
int region_height_
int region_width_
ros::NodeHandle root_nh_
 The node handle.
std::string source_frame_
ros::ServiceServer srv_position_
ros::Subscriber sub_position_
bool transform_
tf::StampedTransform transform_check2_
tf::StampedTransform transform_check_
double up_direction_
 Which direction along optical axis is pointing best towards up direction.
double X
double X_
double Y
double Y_
double Z
double Z_

Detailed Description

Definition at line 57 of file fast_region_plane_detector.cpp.


Constructor & Destructor Documentation

Definition at line 180 of file fast_region_plane_detector.cpp.

Definition at line 294 of file fast_region_plane_detector.cpp.


Member Function Documentation

bool fast_plane_detection::FastRegionPlaneDetector::maskDisparityImage ( const stereo_msgs::DisparityImage::ConstPtr &  disparity,
const sensor_msgs::CameraInfo::ConstPtr &  camera_info,
const stereo_msgs::DisparityImage::Ptr &  masked_disparity 
) [private]

Definition at line 447 of file fast_region_plane_detector.cpp.

bool fast_plane_detection::FastRegionPlaneDetector::maskDisparityImage ( const stereo_msgs::DisparityImage::ConstPtr &  disparity,
const stereo_msgs::DisparityImage::Ptr &  masked_disparity 
) [private]

Definition at line 577 of file fast_region_plane_detector_fixedCam.cpp.

bool fast_plane_detection::FastRegionPlaneDetector::maskDisparityImage ( const stereo_msgs::DisparityImage::ConstPtr &  disparity,
const sensor_msgs::CameraInfo::ConstPtr &  camera_info,
const stereo_msgs::DisparityImage::Ptr &  masked_disparity 
) [private]
void fast_plane_detection::FastRegionPlaneDetector::planeCallback ( const stereo_msgs::DisparityImage::ConstPtr &  disparity_image)

Callback for disparity image messages.

void fast_plane_detection::FastRegionPlaneDetector::planeCallback ( const stereo_msgs::DisparityImage::ConstPtr &  disparity_image)

Callback for disparity image messages.

void fast_plane_detection::FastRegionPlaneDetector::planeCallback ( const stereo_msgs::DisparityImage::ConstPtr &  disparity_image)

Callback for disparity image messages.

Definition at line 299 of file fast_region_plane_detector.cpp.

Subscriber for slave Position.

Definition at line 554 of file fast_region_plane_detector.cpp.

Service call to Slave Position.

Service call to set Start Position.

Definition at line 531 of file fast_region_plane_detector.cpp.


Member Data Documentation

Buffer size for callbacks.

Definition at line 79 of file fast_region_plane_detector.cpp.

Definition at line 149 of file fast_region_plane_detector.cpp.

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

camera info (needs to be obtained only once)

Definition at line 89 of file fast_region_plane_detector.cpp.

Subscriber to camera info.

Definition at line 71 of file fast_region_plane_detector.cpp.

Definition at line 72 of file fast_region_plane_detector.cpp.

Definition at line 143 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 144 of file fast_region_plane_detector_fixedCam.cpp.

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

disparity image (needs to be obtained always)

Definition at line 82 of file fast_region_plane_detector.cpp.

Publisher to Filtered Disparity Images.

Definition at line 101 of file fast_region_plane_detector.cpp.

Subscriber to disparity images.

Definition at line 75 of file fast_region_plane_detector.cpp.

Definition at line 76 of file fast_region_plane_detector.cpp.

masked disparity image

Definition at line 85 of file fast_region_plane_detector.cpp.

stereo_msgs::DisparityImage::Ptr fast_plane_detection::FastRegionPlaneDetector::disparity_masked_ptr [private]

Definition at line 86 of file fast_region_plane_detector.cpp.

whether to restrict search for plane to table like orientation

Definition at line 115 of file fast_region_plane_detector.cpp.

Definition at line 141 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 142 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 152 of file fast_region_plane_detector.cpp.

Publisher to Histogram Images.

Definition at line 100 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 101 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 135 of file fast_region_plane_detector.cpp.

Minimum number of points necessary to pass a plane detection.

Definition at line 124 of file fast_region_plane_detector.cpp.

Publisher for Labeled Image.

Definition at line 104 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 103 of file fast_region_plane_detector.cpp.

Definition at line 108 of file fast_region_plane_detector.cpp.

Definition at line 105 of file fast_region_plane_detector.cpp.

Definition at line 134 of file fast_region_plane_detector.cpp.

Definition at line 145 of file fast_region_plane_detector.cpp.

Definition at line 144 of file fast_region_plane_detector.cpp.

Definition at line 127 of file fast_region_plane_detector.cpp.

Definition at line 125 of file fast_region_plane_detector.cpp.

Definition at line 126 of file fast_region_plane_detector.cpp.

the plane

Definition at line 176 of file fast_region_plane_detector.cpp.

plane detection object

Definition at line 112 of file fast_region_plane_detector.cpp.

plane detection object

Definition at line 112 of file fast_region_plane_detector_fixedCam.cpp.

plane detection object

Definition at line 109 of file fast_region_plane_detector_fixedCam.cpp.

Publisher to Plane Parameters.

Definition at line 92 of file fast_region_plane_detector.cpp.

Publisher to Plane Parameters.

Definition at line 98 of file fast_region_plane_detector.cpp.

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

Definition at line 118 of file fast_region_plane_detector.cpp.

geometry_msgs::Vector3Stamped fast_plane_detection::FastRegionPlaneDetector::point_ [private]

INPUT THAT SHOULD COME FROM ROBOT POSITION PUBLISHER.

Definition at line 140 of file fast_region_plane_detector.cpp.

Publisher to slave Position.

Definition at line 95 of file fast_region_plane_detector.cpp.

Node handle in the private namespace.

Definition at line 68 of file fast_region_plane_detector.cpp.

Definition at line 153 of file fast_region_plane_detector.cpp.

Definition at line 142 of file fast_region_plane_detector.cpp.

Definition at line 141 of file fast_region_plane_detector.cpp.

The node handle.

Definition at line 66 of file fast_region_plane_detector.cpp.

Definition at line 148 of file fast_region_plane_detector.cpp.

Definition at line 130 of file fast_region_plane_detector.cpp.

Definition at line 137 of file fast_region_plane_detector.cpp.

Definition at line 131 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 109 of file fast_region_plane_detector.cpp.

Definition at line 106 of file fast_region_plane_detector.cpp.

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

Definition at line 121 of file fast_region_plane_detector.cpp.

Definition at line 128 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 131 of file fast_region_plane_detector.cpp.

Definition at line 129 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 132 of file fast_region_plane_detector.cpp.

Definition at line 130 of file fast_region_plane_detector_fixedCam.cpp.

Definition at line 133 of file fast_region_plane_detector.cpp.


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


fast_plane_detection
Author(s): Jeannette Bohg
autogenerated on Fri Jan 3 2014 12:11:20