#include <euclidean_cluster_extraction_nodelet.h>

Inheritance diagram for jsk_pcl_ros::EuclideanClustering:

Public Types
typedef message_filters::sync_policies::ApproximateTime< jsk_recognition_msgs::ClusterPointIndices, sensor_msgs::PointCloud2 >	ApproximateSyncPolicy

typedef jsk_pcl_ros::EuclideanClusteringConfig	Config

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

typedef std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > >	Vector4fVector

Public Member Functions
	EuclideanClustering ()

virtual	~EuclideanClustering ()

Protected Member Functions
virtual std::vector< int >	buildLabelTrackingPivotTable (double *D, Vector4fVector cogs, Vector4fVector new_cogs, double label_tracking_tolerance)

virtual void	clusteringClusterIndices (pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, std::vector< pcl::PointIndices::Ptr > &cluster_indices, std::vector< pcl::PointIndices > &clustered_indices)

virtual void	computeCentroidsOfClusters (Vector4fVector &ret, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud, std::vector< pcl::PointIndices > cluster_indices)

virtual void	computeDistanceMatrix (double *D, Vector4fVector &old_cogs, Vector4fVector &new_cogs)

void	configCallback (Config &config, uint32_t level)

void	downsample_cloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &original_cloud, pcl::PointCloud< pcl::PointXYZ >::Ptr &sampled_cloud, std::vector< std::vector< int > > &sampled_to_original_indices, std::vector< int > &original_to_sampled_indices, double leaf_size)

virtual void	extract (const sensor_msgs::PointCloud2ConstPtr &input)

virtual void	multi_extract (const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &cluster_indices, const sensor_msgs::PointCloud2::ConstPtr &input)

virtual void	onInit ()

virtual std::vector< pcl::PointIndices >	pivotClusterIndices (std::vector< int > &pivot_table, std::vector< pcl::PointIndices > &cluster_indices)

virtual void	removeDuplicatedIndices (pcl::PointIndices::Ptr indices)

bool	serviceCallback (jsk_recognition_msgs::EuclideanSegment::Request &req, jsk_recognition_msgs::EuclideanSegment::Response &res)

virtual void	subscribe ()

virtual void	unsubscribe ()

virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Attributes
bool	approximate_sync_

boost::shared_ptr< message_filters::Synchronizer< ApproximateSyncPolicy > >	async_

jsk_recognition_utils::Counter	cluster_counter_

int	cluster_filter_type_

ros::Publisher	cluster_num_pub_

Vector4fVector	cogs_

bool	downsample_

std::vector< std::vector< int > >	downsample_to_original_indices_

jsk_topic_tools::TimeAccumulator	kdtree_acc_

double	label_tracking_tolerance

double	leaf_size_

int	maxsize_

int	minsize_

bool	multi_

boost::mutex	mutex_

std::vector< int >	original_to_downsample_indices_

int	queue_size_

ros::Publisher	result_pub_

jsk_topic_tools::TimeAccumulator	segmentation_acc_

ros::ServiceServer	service_

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

message_filters::Subscriber< jsk_recognition_msgs::ClusterPointIndices >	sub_cluster_indices_

ros::Subscriber	sub_input_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_point_cloud_

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

double	tolerance

Detailed Description

Definition at line 103 of file euclidean_cluster_extraction_nodelet.h.

Member Typedef Documentation

◆ ApproximateSyncPolicy

typedef message_filters::sync_policies::ApproximateTime< jsk_recognition_msgs::ClusterPointIndices, sensor_msgs::PointCloud2> jsk_pcl_ros::EuclideanClustering::ApproximateSyncPolicy

Definition at line 144 of file euclidean_cluster_extraction_nodelet.h.

◆ Config

typedef jsk_pcl_ros::EuclideanClusteringConfig jsk_pcl_ros::EuclideanClustering::Config

Definition at line 146 of file euclidean_cluster_extraction_nodelet.h.

◆ SyncPolicy

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

Definition at line 140 of file euclidean_cluster_extraction_nodelet.h.

◆ Vector4fVector

typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > jsk_pcl_ros::EuclideanClustering::Vector4fVector

Definition at line 149 of file euclidean_cluster_extraction_nodelet.h.

Constructor & Destructor Documentation

◆ EuclideanClustering()

jsk_pcl_ros::EuclideanClustering::EuclideanClustering ( )

inline

Definition at line 150 of file euclidean_cluster_extraction_nodelet.h.

◆ ~EuclideanClustering()

jsk_pcl_ros::EuclideanClustering::~EuclideanClustering ( )

virtual

Definition at line 420 of file euclidean_cluster_extraction_nodelet.cpp.

Member Function Documentation

◆ buildLabelTrackingPivotTable()

std::vector< int > jsk_pcl_ros::EuclideanClustering::buildLabelTrackingPivotTable	(	double *	D,
		Vector4fVector	cogs,
		Vector4fVector	new_cogs,
		double	label_tracking_tolerance
	)

protectedvirtual

Definition at line 514 of file euclidean_cluster_extraction_nodelet.cpp.

◆ clusteringClusterIndices()

void jsk_pcl_ros::EuclideanClustering::clusteringClusterIndices	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		std::vector< pcl::PointIndices::Ptr > &	cluster_indices,
		std::vector< pcl::PointIndices > &	clustered_indices
	)

protectedvirtual

Definition at line 81 of file euclidean_cluster_extraction_nodelet.cpp.

◆ computeCentroidsOfClusters()

void jsk_pcl_ros::EuclideanClustering::computeCentroidsOfClusters	(	Vector4fVector &	ret,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud,
		std::vector< pcl::PointIndices >	cluster_indices
	)

protectedvirtual

Definition at line 584 of file euclidean_cluster_extraction_nodelet.cpp.

◆ computeDistanceMatrix()

void jsk_pcl_ros::EuclideanClustering::computeDistanceMatrix	(	double *	D,
		Vector4fVector &	old_cogs,
		Vector4fVector &	new_cogs
	)

protectedvirtual

Definition at line 560 of file euclidean_cluster_extraction_nodelet.cpp.

◆ configCallback()

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

protected

Definition at line 490 of file euclidean_cluster_extraction_nodelet.cpp.

◆ downsample_cloud()

void jsk_pcl_ros::EuclideanClustering::downsample_cloud	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	original_cloud,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	sampled_cloud,
		std::vector< std::vector< int > > &	sampled_to_original_indices,
		std::vector< int > &	original_to_sampled_indices,
		double	leaf_size
	)

protected

Definition at line 45 of file euclidean_cluster_extraction_nodelet.cpp.

◆ extract()

void jsk_pcl_ros::EuclideanClustering::extract ( const sensor_msgs::PointCloud2ConstPtr & input )

protectedvirtual

Definition at line 222 of file euclidean_cluster_extraction_nodelet.cpp.

◆ multi_extract()

void jsk_pcl_ros::EuclideanClustering::multi_extract	(	const jsk_recognition_msgs::ClusterPointIndices::ConstPtr &	cluster_indices,
		const sensor_msgs::PointCloud2::ConstPtr &	input
	)

protectedvirtual

Definition at line 287 of file euclidean_cluster_extraction_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::EuclideanClustering::onInit ( )

protectedvirtual

Definition at line 393 of file euclidean_cluster_extraction_nodelet.cpp.

◆ pivotClusterIndices()

std::vector< pcl::PointIndices > jsk_pcl_ros::EuclideanClustering::pivotClusterIndices	(	std::vector< int > &	pivot_table,
		std::vector< pcl::PointIndices > &	cluster_indices
	)

protectedvirtual

Definition at line 503 of file euclidean_cluster_extraction_nodelet.cpp.

◆ removeDuplicatedIndices()

void jsk_pcl_ros::EuclideanClustering::removeDuplicatedIndices ( pcl::PointIndices::Ptr indices )

protectedvirtual

Definition at line 575 of file euclidean_cluster_extraction_nodelet.cpp.

◆ serviceCallback()

bool jsk_pcl_ros::EuclideanClustering::serviceCallback	(	jsk_recognition_msgs::EuclideanSegment::Request &	req,
		jsk_recognition_msgs::EuclideanSegment::Response &	res
	)