#include <edge_depth_refinement.h>

Inheritance diagram for jsk_pcl_ros::EdgeDepthRefinement:

Public Types
typedef jsk_pcl_ros::EdgeDepthRefinementConfig	Config

typedef pcl::PointXYZRGB	PointT

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

Public Member Functions
virtual	~EdgeDepthRefinement ()

Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)

virtual boost::tuple< int, int >	findMinMaxIndex (const int width, const int height, const std::vector< int > &indices)

virtual void	integrateDuplicatedIndices (const pcl::PointCloud< PointT >::Ptr &cloud, const std::set< int > &duplicated_set, const std::vector< pcl::PointIndices::Ptr > all_inliers, pcl::PointIndices::Ptr &output_indices)

virtual jsk_recognition_utils::Line::Ptr	lineFromCoefficients (const pcl::ModelCoefficients::Ptr coefficients)

virtual void	onInit ()

virtual void	publishIndices (ros::Publisher &pub, ros::Publisher &pub_coefficients, ros::Publisher &pub_edges, const std::vector< pcl::PointIndices::Ptr > inliers, const std::vector< pcl::ModelCoefficients::Ptr > coefficients, const std_msgs::Header &header)

virtual void	refine (const sensor_msgs::PointCloud2ConstPtr &point, const jsk_recognition_msgs::ClusterPointIndicesConstPtr &indices)

virtual void	removeDuplicatedEdges (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< pcl::PointIndices::Ptr > inliers, const std::vector< pcl::ModelCoefficients::Ptr > coefficients, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients)

virtual void	removeOutliers (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< PCLIndicesMsg > &indices, std::vector< pcl::PointIndices::Ptr > &output_inliers, std::vector< pcl::ModelCoefficients::Ptr > &output_coefficients)

virtual void	removeOutliersByLine (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, pcl::PointIndices &inliers, pcl::ModelCoefficients &coefficients)

virtual jsk_recognition_utils::Segment::Ptr	segmentFromIndices (const pcl::PointCloud< PointT >::Ptr &cloud, const std::vector< int > &indices, const jsk_recognition_utils::Line::Ptr &line)

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Attributes
double	duplication_angle_threshold_

double	duplication_distance_threshold_

int	min_inliers_

boost::mutex	mutex_

double	outlier_distance_threshold_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_edges_

ros::Publisher	pub_indices_

ros::Publisher	pub_outlier_removed_coefficients_

ros::Publisher	pub_outlier_removed_edges_

ros::Publisher	pub_outlier_removed_indices_

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

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_indices_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

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

Detailed Description

Definition at line 92 of file edge_depth_refinement.h.

Member Typedef Documentation

◆ Config

typedef jsk_pcl_ros::EdgeDepthRefinementConfig jsk_pcl_ros::EdgeDepthRefinement::Config

Definition at line 131 of file edge_depth_refinement.h.

◆ PointT

typedef pcl::PointXYZRGB jsk_pcl_ros::EdgeDepthRefinement::PointT

Definition at line 130 of file edge_depth_refinement.h.

◆ SyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, jsk_recognition_msgs::ClusterPointIndices > jsk_pcl_ros::EdgeDepthRefinement::SyncPolicy

Definition at line 129 of file edge_depth_refinement.h.

Constructor & Destructor Documentation

◆ ~EdgeDepthRefinement()

jsk_pcl_ros::EdgeDepthRefinement::~EdgeDepthRefinement ( )

virtual

Definition at line 108 of file edge_depth_refinement_nodelet.cpp.

Member Function Documentation

◆ configCallback()

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

protectedvirtual

Definition at line 437 of file edge_depth_refinement_nodelet.cpp.

◆ findMinMaxIndex()

boost::tuple< int, int > jsk_pcl_ros::EdgeDepthRefinement::findMinMaxIndex	(	const int	width,
		const int	height,
		const std::vector< int > &	indices
	)

protectedvirtual

Definition at line 160 of file edge_depth_refinement_nodelet.cpp.

◆ integrateDuplicatedIndices()

void jsk_pcl_ros::EdgeDepthRefinement::integrateDuplicatedIndices	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::set< int > &	duplicated_set,
		const std::vector< pcl::PointIndices::Ptr >	all_inliers,
		pcl::PointIndices::Ptr &	output_indices
	)

protectedvirtual

Definition at line 222 of file edge_depth_refinement_nodelet.cpp.

◆ lineFromCoefficients()

jsk_recognition_utils::Line::Ptr jsk_pcl_ros::EdgeDepthRefinement::lineFromCoefficients ( const pcl::ModelCoefficients::Ptr coefficients )

protectedvirtual

Definition at line 147 of file edge_depth_refinement_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::EdgeDepthRefinement::onInit ( )

protectedvirtual

Definition at line 78 of file edge_depth_refinement_nodelet.cpp.

◆ publishIndices()

void jsk_pcl_ros::EdgeDepthRefinement::publishIndices	(	ros::Publisher &	pub,
		ros::Publisher &	pub_coefficients,
		ros::Publisher &	pub_edges,
		const std::vector< pcl::PointIndices::Ptr >	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr >	coefficients,
		const std_msgs::Header &	header
	)

protectedvirtual

Definition at line 398 of file edge_depth_refinement_nodelet.cpp.

◆ refine()

void jsk_pcl_ros::EdgeDepthRefinement::refine	(	const sensor_msgs::PointCloud2ConstPtr &	point,
		const jsk_recognition_msgs::ClusterPointIndicesConstPtr &	indices
	)

protectedvirtual

Definition at line 446 of file edge_depth_refinement_nodelet.cpp.

◆ removeDuplicatedEdges()

void jsk_pcl_ros::EdgeDepthRefinement::removeDuplicatedEdges	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< pcl::PointIndices::Ptr >	inliers,
		const std::vector< pcl::ModelCoefficients::Ptr >	coefficients,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients
	)

protectedvirtual

Definition at line 238 of file edge_depth_refinement_nodelet.cpp.

◆ removeOutliers()

void jsk_pcl_ros::EdgeDepthRefinement::removeOutliers	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< PCLIndicesMsg > &	indices,
		std::vector< pcl::PointIndices::Ptr > &	output_inliers,
		std::vector< pcl::ModelCoefficients::Ptr > &	output_coefficients
	)

protectedvirtual

Definition at line 358 of file edge_depth_refinement_nodelet.cpp.

◆ removeOutliersByLine()

void jsk_pcl_ros::EdgeDepthRefinement::removeOutliersByLine	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		pcl::PointIndices &	inliers,
		pcl::ModelCoefficients &	coefficients
	)

protectedvirtual

Definition at line 378 of file edge_depth_refinement_nodelet.cpp.

◆ segmentFromIndices()

jsk_recognition_utils::Segment::Ptr jsk_pcl_ros::EdgeDepthRefinement::segmentFromIndices	(	const pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::vector< int > &	indices,
		const jsk_recognition_utils::Line::Ptr &	line
	)

protectedvirtual

Definition at line 204 of file edge_depth_refinement_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::EdgeDepthRefinement::subscribe ( )

protectedvirtual

Definition at line 119 of file edge_depth_refinement_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::EdgeDepthRefinement::unsubscribe ( )

protectedvirtual

Definition at line 132 of file edge_depth_refinement_nodelet.cpp.

Member Data Documentation

◆ duplication_angle_threshold_

double jsk_pcl_ros::EdgeDepthRefinement::duplication_angle_threshold_

protected

Definition at line 212 of file edge_depth_refinement.h.

◆ duplication_distance_threshold_

double jsk_pcl_ros::EdgeDepthRefinement::duplication_distance_threshold_

protected

Definition at line 213 of file edge_depth_refinement.h.

◆ min_inliers_

int jsk_pcl_ros::EdgeDepthRefinement::min_inliers_

protected

Definition at line 208 of file edge_depth_refinement.h.

◆ mutex_

boost::mutex jsk_pcl_ros::EdgeDepthRefinement::mutex_

protected

Definition at line 203 of file edge_depth_refinement.h.

◆ outlier_distance_threshold_

double jsk_pcl_ros::EdgeDepthRefinement::outlier_distance_threshold_

protected

Definition at line 207 of file edge_depth_refinement.h.

◆ pub_coefficients_

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_coefficients_

protected

Definition at line 201 of file edge_depth_refinement.h.

◆ pub_edges_

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_edges_

protected

Definition at line 202 of file edge_depth_refinement.h.

◆ pub_indices_

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_indices_

protected

Definition at line 200 of file edge_depth_refinement.h.

◆ pub_outlier_removed_coefficients_

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_outlier_removed_coefficients_

protected

Definition at line 201 of file edge_depth_refinement.h.

◆ pub_outlier_removed_edges_

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_outlier_removed_edges_

protected

Definition at line 202 of file edge_depth_refinement.h.

◆ pub_outlier_removed_indices_

ros::Publisher jsk_pcl_ros::EdgeDepthRefinement::pub_outlier_removed_indices_

protected

Definition at line 200 of file edge_depth_refinement.h.

◆ srv_

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

protected

Definition at line 196 of file edge_depth_refinement.h.

◆ sub_indices_

message_filters::Subscriber<jsk_recognition_msgs::ClusterPointIndices> jsk_pcl_ros::EdgeDepthRefinement::sub_indices_

protected

Definition at line 198 of file edge_depth_refinement.h.

◆ sub_input_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::EdgeDepthRefinement::sub_input_

protected

Definition at line 197 of file edge_depth_refinement.h.

◆ sync_

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

protected

Definition at line 199 of file edge_depth_refinement.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

◆ Config

◆ PointT

◆ SyncPolicy

Constructor & Destructor Documentation

◆ ~EdgeDepthRefinement()

Member Function Documentation

◆ configCallback()

◆ findMinMaxIndex()

◆ integrateDuplicatedIndices()

◆ lineFromCoefficients()

◆ onInit()

◆ publishIndices()

◆ refine()

◆ removeDuplicatedEdges()

◆ removeOutliers()

◆ removeOutliersByLine()

◆ segmentFromIndices()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ duplication_angle_threshold_

◆ duplication_distance_threshold_

◆ min_inliers_

◆ mutex_

◆ outlier_distance_threshold_

◆ pub_coefficients_

◆ pub_edges_

◆ pub_indices_

◆ pub_outlier_removed_coefficients_

◆ pub_outlier_removed_edges_

◆ pub_outlier_removed_indices_

◆ srv_

◆ sub_indices_

◆ sub_input_

◆ sync_