object_segmentation_gui::TableTransform Class Reference

Public Member Functions
tabletop_object_detector::Table	get3DTable (float alpha, float beta, float gamma, sensor_msgs::PointCloud &table_points, std_msgs::Header table_header)
void	setParams (const sensor_msgs::CameraInfo &cam_info, float baseline, float up_direction)
	TableTransform ()
	~TableTransform ()
Private Member Functions
pcl::ModelCoefficients	convertTo3DPlane (const sensor_msgs::CameraInfo &camera_info, const float alpha, const float beta, const float gamma)
tf::Transform	getPlaneTransform (pcl::ModelCoefficients coeffs, double up_direction)
template<class PointCloudType >
tabletop_object_detector::Table	getTable (std_msgs::Header cloud_header, const tf::Transform &table_plane_trans, const PointCloudType &table_points)
bool	transformPlanePoints (const tf::Transform &table_plane_trans, sensor_msgs::PointCloud &table_points)
Private Attributes
float	baseline_
sensor_msgs::CameraInfo	cam_info_
tf::TransformListener	listener_
	A tf transform listener.
float	up_direction_

Detailed Description

Definition at line 44 of file table_transform.h.

object_segmentation_gui::TableTransform::TableTransform ( )

Definition at line 34 of file table_transform.cpp.

object_segmentation_gui::TableTransform::~TableTransform ( )

Definition at line 45 of file table_transform.cpp.

pcl::ModelCoefficients object_segmentation_gui::TableTransform::convertTo3DPlane	(	const sensor_msgs::CameraInfo &	camera_info,
		const float	alpha,
		const float	beta,
		const float	gamma
	)			`[private]`

Definition at line 86 of file table_transform.cpp.

tabletop_object_detector::Table object_segmentation_gui::TableTransform::get3DTable	(	float	alpha,
		float	beta,
		float	gamma,
		sensor_msgs::PointCloud &	table_points,
		std_msgs::Header	table_header
	)

Definition at line 57 of file table_transform.cpp.

tf::Transform object_segmentation_gui::TableTransform::getPlaneTransform	(	pcl::ModelCoefficients	coeffs,
		double	up_direction
	)			`[private]`

Assumes plane coefficients are of the form ax+by+cz+d=0, normalized

Definition at line 124 of file table_transform.cpp.

template<class PointCloudType >

tabletop_object_detector::Table object_segmentation_gui::TableTransform::getTable	(	std_msgs::Header	cloud_header,
		const tf::Transform &	table_plane_trans,
		const PointCloudType &	table_points
	)			`[inline, private]`

Definition at line 191 of file table_transform.cpp.

void object_segmentation_gui::TableTransform::setParams	(	const sensor_msgs::CameraInfo &	cam_info,
		float	baseline,
		float	up_direction
	)

Definition at line 48 of file table_transform.cpp.

bool object_segmentation_gui::TableTransform::transformPlanePoints	(	const tf::Transform &	table_plane_trans,
		sensor_msgs::PointCloud &	table_points
	)			`[private]`