#include <linemod.h>

Inheritance diagram for jsk_pcl_ros::LINEMODTrainer:

[legend]

Public Types
typedef boost::shared_ptr< LINEMODTrainer >	Ptr

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, PCLIndicesMsg >	SyncPolicy

Public Types inherited from pcl_ros::PCLNodelet
typedef pcl::IndicesConstPtr	IndicesConstPtr

typedef pcl::IndicesPtr	IndicesPtr

typedef pcl_msgs::ModelCoefficients	ModelCoefficients

typedef ModelCoefficients::ConstPtr	ModelCoefficientsConstPtr

typedef ModelCoefficients::Ptr	ModelCoefficientsPtr

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloud

typedef sensor_msgs::PointCloud2	PointCloud2

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef pcl_msgs::PointIndices	PointIndices

typedef PointIndices::ConstPtr	PointIndicesConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

Public Member Functions
virtual	~LINEMODTrainer ()

Public Member Functions inherited from pcl_ros::PCLNodelet
	PCLNodelet ()

Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
	NodeletLazy ()

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 bool	clearData (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

virtual void	generateLINEMODTrainingData (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr cloud, pcl::PointIndices::Ptr mask, pcl::ColorGradientModality< pcl::PointXYZRGBA > &color_grad_mod, pcl::SurfaceNormalModality< pcl::PointXYZRGBA > &surface_norm_mod, pcl::MaskMap &mask_map, pcl::RegionXY &region)

virtual void	onInit ()

virtual void	organizedPointCloudWithViewPoint (const Eigen::Affine3f &transform, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr raw_cloud, const image_geometry::PinholeCameraModel &model, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr output, pcl::PointIndices &mask)

virtual bool	startTraining (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)

virtual void	store (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg, const PCLIndicesMsg::ConstPtr &indices_msg)

virtual void	subscribeCameraInfo (const sensor_msgs::CameraInfo::ConstPtr &info_msg)

virtual void	subscribeCloud (const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)

virtual void	tar (const std::string &directory, const std::string &output)

virtual std::vector< std::string >	trainOneData (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr cloud, pcl::PointIndices::Ptr mask, std::string &tempstr, int i)

virtual void	trainWithoutViewpointSampling ()

virtual void	trainWithViewpointSampling ()

Protected Member Functions inherited from pcl_ros::PCLNodelet
bool	isValid (const ModelCoefficientsConstPtr &, const std::string &="model")

bool	isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")

bool	isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")

bool	isValid (const PointIndicesConstPtr &, const std::string &="indices")

virtual void	subscribe ()

virtual void	unsubscribe ()

Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (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
sensor_msgs::CameraInfo::ConstPtr	camera_info_

ros::ServiceServer	clear_data_srv_

boost::mutex	mutex_

int	n_points_

std::string	output_file_

ros::Publisher	pub_colored_range_image_

ros::Publisher	pub_range_image_

ros::Publisher	pub_sample_cloud_

std::vector< pcl::PointIndices::Ptr >	sample_indices_

bool	sample_viewpoint_

double	sample_viewpoint_angle_max_

double	sample_viewpoint_angle_min_

double	sample_viewpoint_angle_step_

double	sample_viewpoint_radius_max_

double	sample_viewpoint_radius_min_

double	sample_viewpoint_radius_step_

std::vector< pcl::PointCloud< pcl::PointXYZRGBA >::Ptr >	samples_

std::vector< pcl::PointCloud< pcl::PointXYZRGBA >::Ptr >	samples_before_sampling_

ros::ServiceServer	start_training_srv_

ros::Subscriber	sub_camera_info_nonsync_

message_filters::Subscriber< PCLIndicesMsg >	sub_indices_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

ros::Subscriber	sub_input_nonsync_

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

Protected Attributes inherited from pcl_ros::PCLNodelet
bool	approximate_sync_

bool	latched_indices_

int	max_queue_size_

ros::Publisher	pub_output_

message_filters::Subscriber< PointIndices >	sub_indices_filter_

message_filters::Subscriber< PointCloud >	sub_input_filter_

tf::TransformListener	tf_listener_

bool	use_indices_

Protected Attributes inherited from nodelet_topic_tools::NodeletLazy
boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

bool	lazy_

boost::shared_ptr< ros::NodeHandle >	nh_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

ros::WallTimer	timer_ever_subscribed_

bool	verbose_connection_

Detailed Description

Definition at line 148 of file linemod.h.

Member Typedef Documentation

◆ Ptr

typedef boost::shared_ptr<LINEMODTrainer> jsk_pcl_ros::LINEMODTrainer::Ptr

Definition at line 151 of file linemod.h.

◆ SyncPolicy

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

Definition at line 154 of file linemod.h.

Constructor & Destructor Documentation

◆ ~LINEMODTrainer()

jsk_pcl_ros::LINEMODTrainer::~LINEMODTrainer ( )

virtual

Definition at line 117 of file linemod_nodelet.cpp.

Member Function Documentation

◆ clearData()

bool jsk_pcl_ros::LINEMODTrainer::clearData	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protectedvirtual

Definition at line 161 of file linemod_nodelet.cpp.

◆ generateLINEMODTrainingData()

void jsk_pcl_ros::LINEMODTrainer::generateLINEMODTrainingData	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	cloud,
		pcl::PointIndices::Ptr	mask,
		pcl::ColorGradientModality< pcl::PointXYZRGBA > &	color_grad_mod,
		pcl::SurfaceNormalModality< pcl::PointXYZRGBA > &	surface_norm_mod,
		pcl::MaskMap &	mask_map,
		pcl::RegionXY &	region
	)

protectedvirtual

Definition at line 400 of file linemod_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::LINEMODTrainer::onInit ( )

protectedvirtual

Reimplemented from pcl_ros::PCLNodelet.

Definition at line 66 of file linemod_nodelet.cpp.

◆ organizedPointCloudWithViewPoint()

void jsk_pcl_ros::LINEMODTrainer::organizedPointCloudWithViewPoint	(	const Eigen::Affine3f &	transform,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	raw_cloud,
		const image_geometry::PinholeCameraModel &	model,
		pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	output,
		pcl::PointIndices &	mask
	)

protectedvirtual

Definition at line 172 of file linemod_nodelet.cpp.

◆ startTraining()

bool jsk_pcl_ros::LINEMODTrainer::startTraining	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)

protectedvirtual

Definition at line 550 of file linemod_nodelet.cpp.

◆ store()

void jsk_pcl_ros::LINEMODTrainer::store	(	const sensor_msgs::PointCloud2::ConstPtr &	cloud_msg,
		const PCLIndicesMsg::ConstPtr &	indices_msg
	)

protectedvirtual

Definition at line 128 of file linemod_nodelet.cpp.

◆ subscribeCameraInfo()

void jsk_pcl_ros::LINEMODTrainer::subscribeCameraInfo ( const sensor_msgs::CameraInfo::ConstPtr & info_msg )

protectedvirtual

Definition at line 154 of file linemod_nodelet.cpp.

◆ subscribeCloud()

void jsk_pcl_ros::LINEMODTrainer::subscribeCloud ( const sensor_msgs::PointCloud2::ConstPtr & cloud_msg )

protectedvirtual

Definition at line 143 of file linemod_nodelet.cpp.

◆ tar()

void jsk_pcl_ros::LINEMODTrainer::tar	(	const std::string &	directory,
		const std::string &	output
	)

protectedvirtual

Definition at line 542 of file linemod_nodelet.cpp.

◆ trainOneData()

std::vector< std::string > jsk_pcl_ros::LINEMODTrainer::trainOneData	(	pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	cloud,
		pcl::PointIndices::Ptr	mask,
		std::string &	tempstr,
		int	i
	)

protectedvirtual

Definition at line 443 of file linemod_nodelet.cpp.

◆ trainWithoutViewpointSampling()

void jsk_pcl_ros::LINEMODTrainer::trainWithoutViewpointSampling ( )

protectedvirtual

Definition at line 521 of file linemod_nodelet.cpp.

◆ trainWithViewpointSampling()

void jsk_pcl_ros::LINEMODTrainer::trainWithViewpointSampling ( )

protectedvirtual

Definition at line 272 of file linemod_nodelet.cpp.

Member Data Documentation

◆ camera_info_

sensor_msgs::CameraInfo::ConstPtr jsk_pcl_ros::LINEMODTrainer::camera_info_

protected

Definition at line 206 of file linemod.h.

◆ clear_data_srv_

ros::ServiceServer jsk_pcl_ros::LINEMODTrainer::clear_data_srv_

protected

Definition at line 200 of file linemod.h.

◆ mutex_

boost::mutex jsk_pcl_ros::LINEMODTrainer::mutex_

protected

Definition at line 210 of file linemod.h.

◆ n_points_

int jsk_pcl_ros::LINEMODTrainer::n_points_

protected

Definition at line 219 of file linemod.h.

◆ output_file_

std::string jsk_pcl_ros::LINEMODTrainer::output_file_

protected

Definition at line 211 of file linemod.h.

◆ pub_colored_range_image_

ros::Publisher jsk_pcl_ros::LINEMODTrainer::pub_colored_range_image_

protected

Definition at line 202 of file linemod.h.

◆ pub_range_image_

ros::Publisher jsk_pcl_ros::LINEMODTrainer::pub_range_image_

protected

Definition at line 201 of file linemod.h.

◆ pub_sample_cloud_

ros::Publisher jsk_pcl_ros::LINEMODTrainer::pub_sample_cloud_

protected

Definition at line 203 of file linemod.h.

◆ sample_indices_

std::vector<pcl::PointIndices::Ptr> jsk_pcl_ros::LINEMODTrainer::sample_indices_

protected

Definition at line 209 of file linemod.h.

◆ sample_viewpoint_

bool jsk_pcl_ros::LINEMODTrainer::sample_viewpoint_

protected

Definition at line 212 of file linemod.h.

◆ sample_viewpoint_angle_max_

double jsk_pcl_ros::LINEMODTrainer::sample_viewpoint_angle_max_

protected

Definition at line 217 of file linemod.h.

◆ sample_viewpoint_angle_min_

double jsk_pcl_ros::LINEMODTrainer::sample_viewpoint_angle_min_

protected

Definition at line 215 of file linemod.h.

◆ sample_viewpoint_angle_step_

double jsk_pcl_ros::LINEMODTrainer::sample_viewpoint_angle_step_

protected

Definition at line 213 of file linemod.h.

◆ sample_viewpoint_radius_max_

double jsk_pcl_ros::LINEMODTrainer::sample_viewpoint_radius_max_

protected

Definition at line 218 of file linemod.h.

◆ sample_viewpoint_radius_min_

double jsk_pcl_ros::LINEMODTrainer::sample_viewpoint_radius_min_

protected

Definition at line 216 of file linemod.h.

◆ sample_viewpoint_radius_step_

double jsk_pcl_ros::LINEMODTrainer::sample_viewpoint_radius_step_

protected

Definition at line 214 of file linemod.h.

◆ samples_

std::vector<pcl::PointCloud<pcl::PointXYZRGBA>::Ptr> jsk_pcl_ros::LINEMODTrainer::samples_

protected

Definition at line 208 of file linemod.h.

◆ samples_before_sampling_

std::vector<pcl::PointCloud<pcl::PointXYZRGBA>::Ptr> jsk_pcl_ros::LINEMODTrainer::samples_before_sampling_

protected

Definition at line 207 of file linemod.h.

◆ start_training_srv_

ros::ServiceServer jsk_pcl_ros::LINEMODTrainer::start_training_srv_

protected

Definition at line 199 of file linemod.h.

◆ sub_camera_info_nonsync_

ros::Subscriber jsk_pcl_ros::LINEMODTrainer::sub_camera_info_nonsync_

protected

Definition at line 205 of file linemod.h.

◆ sub_indices_

message_filters::Subscriber<PCLIndicesMsg> jsk_pcl_ros::LINEMODTrainer::sub_indices_

protected

Definition at line 198 of file linemod.h.

◆ sub_input_

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

protected

Definition at line 197 of file linemod.h.

◆ sub_input_nonsync_

ros::Subscriber jsk_pcl_ros::LINEMODTrainer::sub_input_nonsync_

protected

Definition at line 204 of file linemod.h.

◆ sync_

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

protected

Definition at line 196 of file linemod.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

◆ Ptr

◆ SyncPolicy

Constructor & Destructor Documentation

◆ ~LINEMODTrainer()

Member Function Documentation

◆ clearData()

◆ generateLINEMODTrainingData()

◆ onInit()

◆ organizedPointCloudWithViewPoint()

◆ startTraining()

◆ store()

◆ subscribeCameraInfo()

◆ subscribeCloud()

◆ tar()

◆ trainOneData()

◆ trainWithoutViewpointSampling()

◆ trainWithViewpointSampling()

Member Data Documentation

◆ camera_info_

◆ clear_data_srv_

◆ mutex_

◆ n_points_

◆ output_file_

◆ pub_colored_range_image_

◆ pub_range_image_

◆ pub_sample_cloud_

◆ sample_indices_

◆ sample_viewpoint_

◆ sample_viewpoint_angle_max_

◆ sample_viewpoint_angle_min_

◆ sample_viewpoint_angle_step_

◆ sample_viewpoint_radius_max_

◆ sample_viewpoint_radius_min_

◆ sample_viewpoint_radius_step_

◆ samples_

◆ samples_before_sampling_

◆ start_training_srv_

◆ sub_camera_info_nonsync_

◆ sub_indices_

◆ sub_input_

◆ sub_input_nonsync_

◆ sync_