#include <plane_concatenator.h>

Inheritance diagram for jsk_pcl_ros_utils::PlaneConcatenator:

Public Types
typedef PlaneConcatenatorConfig	Config

typedef pcl::PointXYZRGB	PointT

typedef boost::shared_ptr< PlaneConcatenator >	Ptr

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray >	SyncPolicy

Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Public Member Functions
	PlaneConcatenator ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

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 ()

Protected Member Functions
virtual void	concatenate (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &indices_msg, const jsk_recognition_msgs::PolygonArray::ConstPtr &polygon_array_msg, const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &coefficients_array_msg)

virtual void	configCallback (Config &config, uint32_t level)

virtual bool	isNearPointCloud (pcl::KdTreeFLANN< PointT > &kdtree, pcl::PointCloud< PointT >::Ptr cloud, jsk_recognition_utils::Plane::Ptr target_plane)

virtual void	onInit ()

virtual pcl::ModelCoefficients::Ptr	refinement (pcl::PointCloud< PointT >::Ptr cloud, pcl::PointIndices::Ptr indices, pcl::ModelCoefficients::Ptr original_coefficients)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

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	connect_angular_threshold_

double	connect_distance_threshold_

double	connect_perpendicular_distance_threshold_

double	max_area_

double	min_area_

int	min_size_

boost::mutex	mutex_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_indices_

ros::Publisher	pub_polygon_

double	ransac_refinement_eps_angle_

double	ransac_refinement_eps_distance_

int	ransac_refinement_max_iteration_

double	ransac_refinement_outlier_threshold_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_cloud_

message_filters::Subscriber< jsk_recognition_msgs::ModelCoefficientsArray >	sub_coefficients_

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_indices_

message_filters::Subscriber< jsk_recognition_msgs::PolygonArray >	sub_polygon_

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

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

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_

Detailed Description

Definition at line 55 of file plane_concatenator.h.

Member Typedef Documentation

typedef PlaneConcatenatorConfig jsk_pcl_ros_utils::PlaneConcatenator::Config

Definition at line 59 of file plane_concatenator.h.

typedef pcl::PointXYZRGB jsk_pcl_ros_utils::PlaneConcatenator::PointT

Definition at line 60 of file plane_concatenator.h.

typedef boost::shared_ptr<PlaneConcatenator> jsk_pcl_ros_utils::PlaneConcatenator::Ptr

Definition at line 58 of file plane_concatenator.h.

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices, jsk_recognition_msgs::PolygonArray, jsk_recognition_msgs::ModelCoefficientsArray > jsk_pcl_ros_utils::PlaneConcatenator::SyncPolicy

Definition at line 66 of file plane_concatenator.h.

Constructor & Destructor Documentation

jsk_pcl_ros_utils::PlaneConcatenator::PlaneConcatenator ( )

inline

Definition at line 67 of file plane_concatenator.h.

Member Function Documentation

void jsk_pcl_ros_utils::PlaneConcatenator::concatenate	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	indices_msg,
		const jsk_recognition_msgs::PolygonArray::ConstPtr &	polygon_array_msg,
		const jsk_recognition_msgs::ModelCoefficientsArray::ConstPtr &	coefficients_array_msg
	)

protectedvirtual

Definition at line 87 of file plane_concatenator_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneConcatenator::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

Definition at line 256 of file plane_concatenator_nodelet.cpp.

bool jsk_pcl_ros_utils::PlaneConcatenator::isNearPointCloud	(	pcl::KdTreeFLANN< PointT > &	kdtree,
		pcl::PointCloud< PointT >::Ptr	cloud,
		jsk_recognition_utils::Plane::Ptr	target_plane
	)

protectedvirtual

Definition at line 229 of file plane_concatenator_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneConcatenator::onInit ( void )

protectedvirtual

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 46 of file plane_concatenator_nodelet.cpp.

pcl::ModelCoefficients::Ptr jsk_pcl_ros_utils::PlaneConcatenator::refinement	(	pcl::PointCloud< PointT >::Ptr	cloud,
		pcl::PointIndices::Ptr	indices,
		pcl::ModelCoefficients::Ptr	original_coefficients
	)

protectedvirtual

Definition at line 195 of file plane_concatenator_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneConcatenator::subscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 66 of file plane_concatenator_nodelet.cpp.

void jsk_pcl_ros_utils::PlaneConcatenator::unsubscribe ( )

protectedvirtual

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 79 of file plane_concatenator_nodelet.cpp.

Member Data Documentation

double jsk_pcl_ros_utils::PlaneConcatenator::connect_angular_threshold_

protected

Definition at line 106 of file plane_concatenator.h.

double jsk_pcl_ros_utils::PlaneConcatenator::connect_distance_threshold_

protected

Definition at line 107 of file plane_concatenator.h.

double jsk_pcl_ros_utils::PlaneConcatenator::connect_perpendicular_distance_threshold_

protected

Definition at line 108 of file plane_concatenator.h.

double jsk_pcl_ros_utils::PlaneConcatenator::max_area_

protected

Definition at line 115 of file plane_concatenator.h.

double jsk_pcl_ros_utils::PlaneConcatenator::min_area_

protected

Definition at line 114 of file plane_concatenator.h.

int jsk_pcl_ros_utils::PlaneConcatenator::min_size_

protected

Definition at line 113 of file plane_concatenator.h.

boost::mutex jsk_pcl_ros_utils::PlaneConcatenator::mutex_

protected

Definition at line 98 of file plane_concatenator.h.

ros::Publisher jsk_pcl_ros_utils::PlaneConcatenator::pub_coefficients_

protected

Definition at line 102 of file plane_concatenator.h.

ros::Publisher jsk_pcl_ros_utils::PlaneConcatenator::pub_indices_

protected

Definition at line 100 of file plane_concatenator.h.

ros::Publisher jsk_pcl_ros_utils::PlaneConcatenator::pub_polygon_

protected

Definition at line 101 of file plane_concatenator.h.

double jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_eps_angle_

protected

Definition at line 112 of file plane_concatenator.h.

double jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_eps_distance_

protected

Definition at line 111 of file plane_concatenator.h.

int jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_max_iteration_

protected

Definition at line 109 of file plane_concatenator.h.

double jsk_pcl_ros_utils::PlaneConcatenator::ransac_refinement_outlier_threshold_

protected

Definition at line 110 of file plane_concatenator.h.

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

protected

Definition at line 99 of file plane_concatenator.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros_utils::PlaneConcatenator::sub_cloud_

protected

Definition at line 93 of file plane_concatenator.h.

message_filters::Subscriber<jsk_recognition_msgs::ModelCoefficientsArray> jsk_pcl_ros_utils::PlaneConcatenator::sub_coefficients_

protected

Definition at line 96 of file plane_concatenator.h.

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros_utils::PlaneConcatenator::sub_indices_

protected

Definition at line 94 of file plane_concatenator.h.

message_filters::Subscriber<jsk_recognition_msgs::PolygonArray> jsk_pcl_ros_utils::PlaneConcatenator::sub_polygon_

protected

Definition at line 95 of file plane_concatenator.h.

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

protected

Definition at line 97 of file plane_concatenator.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation