#include <multi_plane_sac_segmentation.h>

Inheritance diagram for jsk_pcl_ros::MultiPlaneSACSegmentation:

Public Types
typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig	Config

typedef message_filters::Synchronizer< SyncNormalImuPolicy >	NormalImuSynchronizer

typedef pcl::PointXYZRGB	PointT

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices >	SyncClusterPolicy

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::Imu >	SyncImuPolicy

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::Imu >	SyncNormalImuPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	SyncPolicy

Protected Member Functions
virtual void	applyRecursiveRANSAC (const pcl::PointCloud< PointT >::Ptr &input, const pcl::PointCloud< pcl::Normal >::Ptr &normal, const Eigen::Vector3f &imu_vector, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients, std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &output_polygons)

virtual void	configCallback (Config &config, uint32_t level)

virtual void	onInit ()

virtual void	publishResult (const std_msgs::Header &header, const std::vector< pcl::PointIndices::Ptr > &inliers, const std::vector< pcl::ModelCoefficients::Ptr > &coefficients, const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &convexes)

virtual void	segment (const sensor_msgs::PointCloud2::ConstPtr &msg)

virtual void	segment (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal)

virtual void	segmentWithClusters (const sensor_msgs::PointCloud2::ConstPtr &msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &clusters)

virtual void	segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::Imu::ConstPtr &imu)

virtual void	segmentWithImu (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &msg_nromal, const sensor_msgs::Imu::ConstPtr &imu)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
double	eps_angle_

int	max_iterations_

int	min_inliers_

int	min_points_

int	min_trial_

boost::mutex	mutex_

double	normal_distance_weight_

double	outlier_threshold_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_inliers_

ros::Publisher	pub_polygons_

boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

ros::Subscriber	sub_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_clusters_

message_filters::Subscriber< sensor_msgs::Imu >	sub_imu_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_normal_

boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > >	sync_

boost::shared_ptr< message_filters::Synchronizer< SyncClusterPolicy > >	sync_cluster_

boost::shared_ptr< message_filters::Synchronizer< SyncImuPolicy > >	sync_imu_

boost::shared_ptr< message_filters::Synchronizer< SyncNormalImuPolicy > >	sync_normal_imu_

tf::TransformListener *	tf_listener_

bool	use_clusters_

bool	use_imu_parallel_

bool	use_imu_perpendicular_

bool	use_normal_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Additional Inherited Members
Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Detailed Description

Definition at line 66 of file multi_plane_sac_segmentation.h.

Member Typedef Documentation

typedef jsk_pcl_ros::MultiPlaneSACSegmentationConfig jsk_pcl_ros::MultiPlaneSACSegmentation::Config

Definition at line 70 of file multi_plane_sac_segmentation.h.

typedef message_filters::Synchronizer<SyncNormalImuPolicy> jsk_pcl_ros::MultiPlaneSACSegmentation::NormalImuSynchronizer

Definition at line 87 of file multi_plane_sac_segmentation.h.

typedef pcl::PointXYZRGB jsk_pcl_ros::MultiPlaneSACSegmentation::PointT

Definition at line 69 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncClusterPolicy

Definition at line 76 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::Imu > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncImuPolicy

Definition at line 80 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2, sensor_msgs::Imu > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncNormalImuPolicy

Definition at line 85 of file multi_plane_sac_segmentation.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > jsk_pcl_ros::MultiPlaneSACSegmentation::SyncPolicy

Definition at line 73 of file multi_plane_sac_segmentation.h.

Member Function Documentation

void jsk_pcl_ros::MultiPlaneSACSegmentation::applyRecursiveRANSAC	(	const pcl::PointCloud< PointT >::Ptr &	input,
		const pcl::PointCloud< pcl::Normal >::Ptr &	normal,
		const Eigen::Vector3f &	imu_vector,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients,
		std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	output_polygons
	)

protectedvirtual

Definition at line 154 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 142 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 46 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::publishResult	(	const std_msgs::Header &	header,
		const std::vector< pcl::PointIndices::Ptr > &	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr > &	coefficients,
		const std::vector< jsk_recognition_utils::ConvexPolygon::Ptr > &	convexes
	)

protectedvirtual

Definition at line 296 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segment ( const sensor_msgs::PointCloud2::ConstPtr & msg )

protectedvirtual

Definition at line 398 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segment	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::PointCloud2::ConstPtr &	msg_nromal
	)

protectedvirtual

Definition at line 378 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithClusters	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	clusters
	)

protectedvirtual

Definition at line 262 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::Imu::ConstPtr &	imu
	)

protectedvirtual

Definition at line 323 of file multi_plane_sac_segmentation_nodelet.cpp.

void jsk_pcl_ros::MultiPlaneSACSegmentation::segmentWithImu	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::PointCloud2::ConstPtr &	msg_nromal,
		const sensor_msgs::Imu::ConstPtr &	imu
	)