jsk_pcl_ros::LINEMODDetector Class Reference

#include <linemod.h>

Inheritance diagram for jsk_pcl_ros::LINEMODDetector:

Public Types
typedef LINEMODDetectorConfig	Config

Public Member Functions
	LINEMODDetector ()

Protected Member Functions
virtual void	computeCenterOfTemplate (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr cloud, const pcl::SparseQuantizedMultiModTemplate &linemod_template, const pcl::LINEMODDetection &linemod_detection, Eigen::Vector3f &center)
virtual void	configCallback (Config &config, uint32_t level)
virtual void	detect (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
virtual void	onInit ()
virtual void	setTemplate (YAML::Node doc)
virtual void	subscribe ()
virtual void	unsubscribe ()

Protected Attributes
pcl::ColorGradientModality< pcl::PointXYZRGBA >	color_gradient_mod_
double	detection_threshold_
double	gradient_magnitude_threshold_
pcl::LINEMOD	linemod_
boost::mutex	mutex_
ros::Publisher	pub_cloud_
ros::Publisher	pub_detect_mask_
ros::Publisher	pub_original_template_cloud_
ros::Publisher	pub_pose_
boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_
ros::Subscriber	sub_cloud_
pcl::SurfaceNormalModality< pcl::PointXYZRGBA >	surface_normal_mod_
std::vector< jsk_recognition_msgs::BoundingBox >	template_bboxes_
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	template_cloud_
std::string	template_file_
std::vector< Eigen::Affine3f >	template_poses_

Detailed Description

Definition at line 98 of file linemod.h.

Member Typedef Documentation

Config

typedef LINEMODDetectorConfig jsk_pcl_ros::LINEMODDetector::Config

Definition at line 133 of file linemod.h.

Constructor & Destructor Documentation

LINEMODDetector()

jsk_pcl_ros::LINEMODDetector::LINEMODDetector ( )

inline

Definition at line 134 of file linemod.h.

Member Function Documentation

computeCenterOfTemplate()

void jsk_pcl_ros::LINEMODDetector::computeCenterOfTemplate ( pcl::PointCloud< pcl::PointXYZRGBA >::Ptr  cloud, const pcl::SparseQuantizedMultiModTemplate &  linemod_template, const pcl::LINEMODDetection &  linemod_detection, Eigen::Vector3f &  center  )

protectedvirtual

Definition at line 654 of file linemod_nodelet.cpp.

configCallback()

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

protectedvirtual

Definition at line 633 of file linemod_nodelet.cpp.

detect()

void jsk_pcl_ros::LINEMODDetector::detect ( const sensor_msgs::PointCloud2::ConstPtr &  cloud_msg )

protectedvirtual

Definition at line 683 of file linemod_nodelet.cpp.

onInit()

void jsk_pcl_ros::LINEMODDetector::onInit ( )

protectedvirtual

Definition at line 564 of file linemod_nodelet.cpp.

setTemplate()

void jsk_pcl_ros::LINEMODDetector::setTemplate ( YAML::Node  doc )

protectedvirtual

Definition at line 614 of file linemod_nodelet.cpp.

subscribe()

void jsk_pcl_ros::LINEMODDetector::subscribe ( )

protectedvirtual

Definition at line 604 of file linemod_nodelet.cpp.

unsubscribe()

void jsk_pcl_ros::LINEMODDetector::unsubscribe ( )

protectedvirtual

Definition at line 609 of file linemod_nodelet.cpp.

Member Data Documentation

color_gradient_mod_

pcl::ColorGradientModality<pcl::PointXYZRGBA> jsk_pcl_ros::LINEMODDetector::color_gradient_mod_

protected

Definition at line 174 of file linemod.h.

detection_threshold_

double jsk_pcl_ros::LINEMODDetector::detection_threshold_

protected

Definition at line 168 of file linemod.h.

gradient_magnitude_threshold_

double jsk_pcl_ros::LINEMODDetector::gradient_magnitude_threshold_

protected

Definition at line 167 of file linemod.h.

linemod_

pcl::LINEMOD jsk_pcl_ros::LINEMODDetector::linemod_

protected

Definition at line 170 of file linemod.h.

mutex_

boost::mutex jsk_pcl_ros::LINEMODDetector::mutex_

protected

Definition at line 160 of file linemod.h.

pub_cloud_

ros::Publisher jsk_pcl_ros::LINEMODDetector::pub_cloud_

protected

Definition at line 156 of file linemod.h.

pub_detect_mask_

ros::Publisher jsk_pcl_ros::LINEMODDetector::pub_detect_mask_

protected

Definition at line 157 of file linemod.h.

pub_original_template_cloud_

ros::Publisher jsk_pcl_ros::LINEMODDetector::pub_original_template_cloud_

protected

Definition at line 159 of file linemod.h.

pub_pose_

ros::Publisher jsk_pcl_ros::LINEMODDetector::pub_pose_

protected

Definition at line 158 of file linemod.h.

srv_

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

protected

Definition at line 161 of file linemod.h.

sub_cloud_

ros::Subscriber jsk_pcl_ros::LINEMODDetector::sub_cloud_

protected

Definition at line 155 of file linemod.h.

surface_normal_mod_

pcl::SurfaceNormalModality<pcl::PointXYZRGBA> jsk_pcl_ros::LINEMODDetector::surface_normal_mod_

protected

Definition at line 175 of file linemod.h.

template_bboxes_

std::vector<jsk_recognition_msgs::BoundingBox> jsk_pcl_ros::LINEMODDetector::template_bboxes_

protected

Definition at line 173 of file linemod.h.

template_cloud_

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr jsk_pcl_ros::LINEMODDetector::template_cloud_

protected

Definition at line 171 of file linemod.h.

template_file_

std::string jsk_pcl_ros::LINEMODDetector::template_file_

protected

Definition at line 166 of file linemod.h.

template_poses_

std::vector<Eigen::Affine3f> jsk_pcl_ros::LINEMODDetector::template_poses_

protected

Definition at line 172 of file linemod.h.

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

• linemod.h
• linemod_nodelet.cpp