#include <region_growing_multiple_plane_segmentation.h>

Inheritance diagram for jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation:

Public Types
typedef RegionGrowingMultiplePlaneSegmentationConfig	Config

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 >	NormalSyncPolicy

typedef pcl::PointXYZRGB	PointT

Public Member Functions
	RegionGrowingMultiplePlaneSegmentation ()

virtual	~RegionGrowingMultiplePlaneSegmentation ()

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

virtual void	onInit ()

virtual void	ransacEstimation (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointIndices::Ptr &indices, pcl::PointIndices &inliers, pcl::ModelCoefficients &coefficient)

virtual void	segment (const sensor_msgs::PointCloud2::ConstPtr &msg, const sensor_msgs::PointCloud2::ConstPtr &normal_msg)

virtual void	subscribe ()

virtual void	unsubscribe ()

Static Protected Member Functions
static bool	regionGrowingFunction (const pcl::PointXYZRGBNormal &a, const pcl::PointXYZRGBNormal &b, float distance)

static void	setCondifionFunctionParameter (const double angular_threshold, const double distance_threshold)

Protected Attributes
double	angular_threshold_

double	cluster_tolerance_

double	distance_threshold_

bool	done_initialization_

double	max_area_

double	max_curvature_

int	max_size_

double	min_area_

int	min_size_

boost::mutex	mutex_

ros::Publisher	pub_average_time_

ros::Publisher	pub_clustering_result_

ros::Publisher	pub_coefficients_

ros::Publisher	pub_inliers_

ros::Publisher	pub_latest_time_

ros::Publisher	pub_polygons_

int	ransac_refine_max_iterations_

double	ransac_refine_outlier_distance_threshold_

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

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_input_

message_filters::Subscriber< sensor_msgs::PointCloud2 >	sub_normal_

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

jsk_recognition_utils::WallDurationTimer	timer_

Static Protected Attributes
static double	global_angular_threshold = 0.0

static boost::mutex	global_custom_condigion_function_mutex

static double	global_distance_threshold = 0.0

Detailed Description

Definition at line 88 of file region_growing_multiple_plane_segmentation.h.

Member Typedef Documentation

◆ Config

typedef RegionGrowingMultiplePlaneSegmentationConfig jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::Config

Definition at line 126 of file region_growing_multiple_plane_segmentation.h.

◆ NormalSyncPolicy

typedef message_filters::sync_policies::ExactTime< sensor_msgs::PointCloud2, sensor_msgs::PointCloud2 > jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::NormalSyncPolicy

Definition at line 129 of file region_growing_multiple_plane_segmentation.h.

◆ PointT

typedef pcl::PointXYZRGB jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::PointT

Definition at line 124 of file region_growing_multiple_plane_segmentation.h.

Constructor & Destructor Documentation

◆ RegionGrowingMultiplePlaneSegmentation()

jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::RegionGrowingMultiplePlaneSegmentation ( )

inline

Definition at line 130 of file region_growing_multiple_plane_segmentation.h.

◆ ~RegionGrowingMultiplePlaneSegmentation()

jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::~RegionGrowingMultiplePlaneSegmentation ( )

virtual

Definition at line 105 of file region_growing_multiple_plane_segmentation_nodelet.cpp.

Member Function Documentation

◆ configCallback()

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

protectedvirtual

Definition at line 135 of file region_growing_multiple_plane_segmentation_nodelet.cpp.

◆ onInit()

void jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::onInit ( )

protectedvirtual

Definition at line 79 of file region_growing_multiple_plane_segmentation_nodelet.cpp.

◆ ransacEstimation()

void jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::ransacEstimation	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::PointIndices::Ptr &	indices,
		pcl::PointIndices &	inliers,
		pcl::ModelCoefficients &	coefficient
	)

protectedvirtual

Definition at line 153 of file region_growing_multiple_plane_segmentation_nodelet.cpp.

◆ regionGrowingFunction()

static bool jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::regionGrowingFunction	(	const pcl::PointXYZRGBNormal &	a,
		const pcl::PointXYZRGBNormal &	b,
		float	distance
	)

inlinestaticprotected

Definition at line 163 of file region_growing_multiple_plane_segmentation.h.

◆ segment()

void jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::segment	(	const sensor_msgs::PointCloud2::ConstPtr &	msg,
		const sensor_msgs::PointCloud2::ConstPtr &	normal_msg
	)

protectedvirtual

Definition at line 170 of file region_growing_multiple_plane_segmentation_nodelet.cpp.

◆ setCondifionFunctionParameter()

static void jsk_pcl_ros::RegionGrowingMultiplePlaneSegmentation::setCondifionFunctionParameter	(	const double	angular_threshold,
		const double	distance_threshold
	)