Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
jsk_pcl_ros::HintedPlaneDetector Class Reference

#include <hinted_plane_detector.h>

Inheritance diagram for jsk_pcl_ros::HintedPlaneDetector:
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Public Types

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

Public Member Functions

 HintedPlaneDetector ()
 
virtual ~HintedPlaneDetector ()
 

Protected Member Functions

virtual void configCallback (Config &config, uint32_t level)
 
virtual void densityFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, pcl::PointIndices &output)
 
virtual void detect (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const sensor_msgs::PointCloud2::ConstPtr &hint_cloud_msg)
 
virtual bool detectHintPlane (pcl::PointCloud< pcl::PointXYZ >::Ptr hint_cloud, jsk_recognition_utils::ConvexPolygon::Ptr &convex)
 
virtual bool detectLargerPlane (pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, jsk_recognition_utils::ConvexPolygon::Ptr hint_convex)
 
virtual void euclideanFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)
 
virtual pcl::PointIndices::Ptr getBestCluster (pcl::PointCloud< pcl::PointNormal >::Ptr input_cloud, const std::vector< pcl::PointIndices > &cluster_indices, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex)
 
virtual void hintFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const jsk_recognition_utils::ConvexPolygon::Ptr hint_convex, pcl::PointIndices &output)
 
virtual void onInit ()
 
virtual void planeFilter (const pcl::PointCloud< pcl::PointNormal >::Ptr cloud, const pcl::PointIndices::Ptr indices, const Eigen::Vector3f &normal, pcl::PointIndices &output, pcl::ModelCoefficients &coefficients)
 
virtual void publishPolygon (const jsk_recognition_utils::ConvexPolygon::Ptr convex, ros::Publisher &pub_polygon, ros::Publisher &pub_polygon_array, const pcl::PCLHeader &header)
 
virtual void setHintCloud (const sensor_msgs::PointCloud2::ConstPtr &msg)
 
virtual void subscribe ()
 
virtual void unsubscribe ()
 

Protected Attributes

int density_num_
 
double density_radius_
 
bool enable_density_filtering_
 
bool enable_distance_filtering_
 
bool enable_euclidean_filtering_
 
bool enable_normal_filtering_
 
double eps_angle_
 
int euclidean_clustering_filter_min_size_
 
double euclidean_clustering_filter_tolerance_
 
sensor_msgs::PointCloud2::ConstPtr hint_cloud_
 
int hint_max_iteration_
 
int hint_min_size_
 
double hint_outlier_threashold_
 
int max_iteration_
 
int min_size_
 
boost::mutex mutex_
 
double normal_filter_eps_angle_
 
double outlier_threashold_
 
ros::Publisher pub_coefficients_
 
ros::Publisher pub_density_filtered_indices_
 
ros::Publisher pub_euclidean_filtered_indices_
 
ros::Publisher pub_hint_coefficients_
 
ros::Publisher pub_hint_filtered_indices_
 
ros::Publisher pub_hint_inliers_
 
ros::Publisher pub_hint_polygon_
 
ros::Publisher pub_hint_polygon_array_
 
ros::Publisher pub_inliers_
 
ros::Publisher pub_plane_filtered_indices_
 
ros::Publisher pub_polygon_
 
ros::Publisher pub_polygon_array_
 
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
 
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_cloud_
 
ros::Subscriber sub_cloud_single_
 
message_filters::Subscriber< sensor_msgs::PointCloud2 > sub_hint_cloud_
 
ros::Subscriber sub_hint_cloud_single_
 
boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > > sync_
 
bool synchronize_
 

Detailed Description

Definition at line 88 of file hinted_plane_detector.h.

Member Typedef Documentation

◆ Config

typedef HintedPlaneDetectorConfig jsk_pcl_ros::HintedPlaneDetector::Config

Definition at line 123 of file hinted_plane_detector.h.

◆ SyncPolicy

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

Definition at line 126 of file hinted_plane_detector.h.

Constructor & Destructor Documentation

◆ HintedPlaneDetector()

jsk_pcl_ros::HintedPlaneDetector::HintedPlaneDetector ( )
inline

Definition at line 127 of file hinted_plane_detector.h.

◆ ~HintedPlaneDetector()

jsk_pcl_ros::HintedPlaneDetector::~HintedPlaneDetector ( )
virtual

Definition at line 87 of file hinted_plane_detector_nodelet.cpp.

Member Function Documentation

◆ configCallback()

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

Definition at line 128 of file hinted_plane_detector_nodelet.cpp.

◆ densityFilter()

void jsk_pcl_ros::HintedPlaneDetector::densityFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const pcl::PointIndices::Ptr  indices,
pcl::PointIndices &  output 
)
protectedvirtual

Definition at line 222 of file hinted_plane_detector_nodelet.cpp.

◆ detect()

void jsk_pcl_ros::HintedPlaneDetector::detect ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg,
const sensor_msgs::PointCloud2::ConstPtr &  hint_cloud_msg 
)
protectedvirtual

Definition at line 164 of file hinted_plane_detector_nodelet.cpp.

◆ detectHintPlane()

bool jsk_pcl_ros::HintedPlaneDetector::detectHintPlane ( pcl::PointCloud< pcl::PointXYZ >::Ptr  hint_cloud,
jsk_recognition_utils::ConvexPolygon::Ptr &  convex 
)
protectedvirtual

Definition at line 410 of file hinted_plane_detector_nodelet.cpp.

◆ detectLargerPlane()

bool jsk_pcl_ros::HintedPlaneDetector::detectLargerPlane ( pcl::PointCloud< pcl::PointNormal >::Ptr  input_cloud,
jsk_recognition_utils::ConvexPolygon::Ptr  hint_convex 
)
protectedvirtual

Definition at line 336 of file hinted_plane_detector_nodelet.cpp.

◆ euclideanFilter()

void jsk_pcl_ros::HintedPlaneDetector::euclideanFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const pcl::PointIndices::Ptr  indices,
const jsk_recognition_utils::ConvexPolygon::Ptr  hint_convex,
pcl::PointIndices &  output 
)
protectedvirtual

Definition at line 253 of file hinted_plane_detector_nodelet.cpp.

◆ getBestCluster()

pcl::PointIndices::Ptr jsk_pcl_ros::HintedPlaneDetector::getBestCluster ( pcl::PointCloud< pcl::PointNormal >::Ptr  input_cloud,
const std::vector< pcl::PointIndices > &  cluster_indices,
const jsk_recognition_utils::ConvexPolygon::Ptr  hint_convex 
)
protectedvirtual

Definition at line 197 of file hinted_plane_detector_nodelet.cpp.

◆ hintFilter()

void jsk_pcl_ros::HintedPlaneDetector::hintFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const jsk_recognition_utils::ConvexPolygon::Ptr  hint_convex,
pcl::PointIndices &  output 
)
protectedvirtual

Definition at line 288 of file hinted_plane_detector_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::HintedPlaneDetector::onInit ( )
protectedvirtual

Definition at line 52 of file hinted_plane_detector_nodelet.cpp.

◆ planeFilter()

void jsk_pcl_ros::HintedPlaneDetector::planeFilter ( const pcl::PointCloud< pcl::PointNormal >::Ptr  cloud,
const pcl::PointIndices::Ptr  indices,
const Eigen::Vector3f &  normal,
pcl::PointIndices &  output,
pcl::ModelCoefficients &  coefficients 
)
protectedvirtual

Definition at line 311 of file hinted_plane_detector_nodelet.cpp.

◆ publishPolygon()

void jsk_pcl_ros::HintedPlaneDetector::publishPolygon ( const jsk_recognition_utils::ConvexPolygon::Ptr  convex,
ros::Publisher &  pub_polygon,
ros::Publisher &  pub_polygon_array,
const pcl::PCLHeader &  header 
)
protectedvirtual

Definition at line 393 of file hinted_plane_detector_nodelet.cpp.

◆ setHintCloud()

void jsk_pcl_ros::HintedPlaneDetector::setHintCloud ( const sensor_msgs::PointCloud2::ConstPtr &  msg)
protectedvirtual

Definition at line 156 of file hinted_plane_detector_nodelet.cpp.

◆ subscribe()

void jsk_pcl_ros::HintedPlaneDetector::subscribe ( )
protectedvirtual

Definition at line 98 of file hinted_plane_detector_nodelet.cpp.

◆ unsubscribe()

void jsk_pcl_ros::HintedPlaneDetector::unsubscribe ( )
protectedvirtual

Definition at line 117 of file hinted_plane_detector_nodelet.cpp.

Member Data Documentation

◆ density_num_

int jsk_pcl_ros::HintedPlaneDetector::density_num_
protected

Definition at line 215 of file hinted_plane_detector.h.

◆ density_radius_

double jsk_pcl_ros::HintedPlaneDetector::density_radius_
protected

Definition at line 214 of file hinted_plane_detector.h.

◆ enable_density_filtering_

bool jsk_pcl_ros::HintedPlaneDetector::enable_density_filtering_
protected

Definition at line 213 of file hinted_plane_detector.h.

◆ enable_distance_filtering_

bool jsk_pcl_ros::HintedPlaneDetector::enable_distance_filtering_
protected

Definition at line 212 of file hinted_plane_detector.h.

◆ enable_euclidean_filtering_

bool jsk_pcl_ros::HintedPlaneDetector::enable_euclidean_filtering_
protected

Definition at line 210 of file hinted_plane_detector.h.

◆ enable_normal_filtering_

bool jsk_pcl_ros::HintedPlaneDetector::enable_normal_filtering_
protected

Definition at line 211 of file hinted_plane_detector.h.

◆ eps_angle_

double jsk_pcl_ros::HintedPlaneDetector::eps_angle_
protected

Definition at line 206 of file hinted_plane_detector.h.

◆ euclidean_clustering_filter_min_size_

int jsk_pcl_ros::HintedPlaneDetector::euclidean_clustering_filter_min_size_
protected

Definition at line 209 of file hinted_plane_detector.h.

◆ euclidean_clustering_filter_tolerance_

double jsk_pcl_ros::HintedPlaneDetector::euclidean_clustering_filter_tolerance_
protected

Definition at line 208 of file hinted_plane_detector.h.

◆ hint_cloud_

sensor_msgs::PointCloud2::ConstPtr jsk_pcl_ros::HintedPlaneDetector::hint_cloud_
protected

Definition at line 194 of file hinted_plane_detector.h.

◆ hint_max_iteration_

int jsk_pcl_ros::HintedPlaneDetector::hint_max_iteration_
protected

Definition at line 201 of file hinted_plane_detector.h.

◆ hint_min_size_

int jsk_pcl_ros::HintedPlaneDetector::hint_min_size_
protected

Definition at line 202 of file hinted_plane_detector.h.

◆ hint_outlier_threashold_

double jsk_pcl_ros::HintedPlaneDetector::hint_outlier_threashold_
protected

Definition at line 200 of file hinted_plane_detector.h.

◆ max_iteration_

int jsk_pcl_ros::HintedPlaneDetector::max_iteration_
protected

Definition at line 203 of file hinted_plane_detector.h.

◆ min_size_

int jsk_pcl_ros::HintedPlaneDetector::min_size_
protected

Definition at line 204 of file hinted_plane_detector.h.

◆ mutex_

boost::mutex jsk_pcl_ros::HintedPlaneDetector::mutex_
protected

Definition at line 191 of file hinted_plane_detector.h.

◆ normal_filter_eps_angle_

double jsk_pcl_ros::HintedPlaneDetector::normal_filter_eps_angle_
protected

Definition at line 207 of file hinted_plane_detector.h.

◆ outlier_threashold_

double jsk_pcl_ros::HintedPlaneDetector::outlier_threashold_
protected

Definition at line 205 of file hinted_plane_detector.h.

◆ pub_coefficients_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_coefficients_
protected

Definition at line 185 of file hinted_plane_detector.h.

◆ pub_density_filtered_indices_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_density_filtered_indices_
protected

Definition at line 188 of file hinted_plane_detector.h.

◆ pub_euclidean_filtered_indices_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_euclidean_filtered_indices_
protected

Definition at line 189 of file hinted_plane_detector.h.

◆ pub_hint_coefficients_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_coefficients_
protected

Definition at line 181 of file hinted_plane_detector.h.

◆ pub_hint_filtered_indices_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_filtered_indices_
protected

Definition at line 186 of file hinted_plane_detector.h.

◆ pub_hint_inliers_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_inliers_
protected

Definition at line 180 of file hinted_plane_detector.h.

◆ pub_hint_polygon_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_polygon_
protected

Definition at line 178 of file hinted_plane_detector.h.

◆ pub_hint_polygon_array_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_hint_polygon_array_
protected

Definition at line 179 of file hinted_plane_detector.h.

◆ pub_inliers_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_inliers_
protected

Definition at line 184 of file hinted_plane_detector.h.

◆ pub_plane_filtered_indices_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_plane_filtered_indices_
protected

Definition at line 187 of file hinted_plane_detector.h.

◆ pub_polygon_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_polygon_
protected

Definition at line 183 of file hinted_plane_detector.h.

◆ pub_polygon_array_

ros::Publisher jsk_pcl_ros::HintedPlaneDetector::pub_polygon_array_
protected

Definition at line 182 of file hinted_plane_detector.h.

◆ srv_

boost::shared_ptr<dynamic_reconfigure::Server<Config> > jsk_pcl_ros::HintedPlaneDetector::srv_
protected

Definition at line 190 of file hinted_plane_detector.h.

◆ sub_cloud_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HintedPlaneDetector::sub_cloud_
protected

Definition at line 176 of file hinted_plane_detector.h.

◆ sub_cloud_single_

ros::Subscriber jsk_pcl_ros::HintedPlaneDetector::sub_cloud_single_
protected

Definition at line 192 of file hinted_plane_detector.h.

◆ sub_hint_cloud_

message_filters::Subscriber<sensor_msgs::PointCloud2> jsk_pcl_ros::HintedPlaneDetector::sub_hint_cloud_
protected

Definition at line 177 of file hinted_plane_detector.h.

◆ sub_hint_cloud_single_

ros::Subscriber jsk_pcl_ros::HintedPlaneDetector::sub_hint_cloud_single_
protected

Definition at line 193 of file hinted_plane_detector.h.

◆ sync_

boost::shared_ptr<message_filters::Synchronizer<SyncPolicy> > jsk_pcl_ros::HintedPlaneDetector::sync_
protected

Definition at line 175 of file hinted_plane_detector.h.

◆ synchronize_

bool jsk_pcl_ros::HintedPlaneDetector::synchronize_
protected

Definition at line 199 of file hinted_plane_detector.h.

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

jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Tue Jan 7 2025 04:05:46