SemanticPointAnnotator Class Reference

List of all members.

Public Member Functions
void	cloud_cb (const sensor_msgs::PointCloudConstPtr &cloud_in)
void	cloud_cb (const PointCloudConstPtr &cloud_in)
void	computeConcaveHull (const sensor_msgs::PointCloud &points, const vector< int > &indices, const vector< double > &coeff, const vector< vector< int > > &neighbors, geometry_msgs::Polygon &poly)
void	findClusters (const sensor_msgs::PointCloud &points, const vector< int > &indices, double tolerance, vector< Region > &clusters, int nx_idx, int ny_idx, int nz_idx, unsigned int min_pts_per_cluster=1)
	Decompose a region of space into clusters based on the euclidean distance between points.
int	fitSACPlane (sensor_msgs::PointCloud points, vector< int > indices, vector< vector< int > > &inliers, vector< vector< double > > &coeff)
void	fitSACPlane (PointCloud points, vector< int > indices, vector< vector< int > > &inliers, vector< vector< double > > &coeff)
void	getObjectClassForParallel (sensor_msgs::PointCloud points, vector< int > indices, vector< double > *coeff, geometry_msgs::PointStamped map_origin, double &rgb)
void	getObjectClassForPerpendicular (sensor_msgs::PointCloud points, vector< int > indices, double &rgb)
	SemanticPointAnnotator (ros::NodeHandle &anode)
	SemanticPointAnnotator (ros::NodeHandle &anode)
void	sortConcaveHull2D (const sensor_msgs::PointCloud &points, const vector< int > &indices, geometry_msgs::Polygon &poly)
Public Attributes
double	boundary_angle_threshold_
sensor_msgs::PointCloud	cloud_
PointCloud	cloud_
sensor_msgs::PointCloud	cloud_annotated_
PointCloud	cloud_annotated_
ros::Subscriber	cloud_normal_subscriber_
ros::Publisher	cloud_publisher_
ros::Subscriber	cloud_subscriber_
bool	concave_
double	eps_angle_
int	min_cluster_pts_
PolygonalMap	pmap_
bool	polygonal_map_
ros::Publisher	polygonal_map_publisher_
double	region_angle_threshold_
double	region_growing_tolerance_
double	rule_ceiling_
double	rule_floor_
double	rule_table_max_
double	rule_table_min_
double	rule_wall_
double	sac_distance_threshold_
int	sac_min_points_left_
int	sac_min_points_per_model_
tf::TransformListener	tf_
geometry_msgs::Point32	z_axis_
Point32	z_axis_
Protected Attributes
ros::NodeHandle &	node_

Detailed Description

Definition at line 69 of file semantic_point_annotator.cpp.

Constructor & Destructor Documentation

SemanticPointAnnotator::SemanticPointAnnotator ( ros::NodeHandle & anode ) [inline]

Definition at line 93 of file semantic_point_annotator.cpp.

SemanticPointAnnotator::SemanticPointAnnotator ( ros::NodeHandle & anode ) [inline]

Definition at line 108 of file semantic_point_annotator_omp.cpp.

Member Function Documentation

void SemanticPointAnnotator::cloud_cb ( const sensor_msgs::PointCloudConstPtr & cloud_in ) [inline]

ROS_INFO ("Found %d clusters.", clusters.size ());

note: the clusters are in the z_axis_indices space so instead of points[clusters[j]] we need to do points[z_axis_indices[clusters[j]] nr_p = 0; for (unsigned int cc = 0; cc < clusters.size (); cc++) { double r, g, b; r = rand () / (RAND_MAX + 1.0); g = rand () / (RAND_MAX + 1.0); b = rand () / (RAND_MAX + 1.0); for (unsigned int j = 0; j < clusters[cc].size (); j++) { cloud_annotated_.points[nr_p].x = cloud_.points[xy_axis_indices[clusters[cc].at (j)]].x; cloud_annotated_.points[nr_p].y = cloud_.points[xy_axis_indices[clusters[cc].at (j)]].y; cloud_annotated_.points[nr_p].z = cloud_.points[xy_axis_indices[clusters[cc].at (j)]].z; cloud_annotated_.channels[0].values[i] = intensity_value; cloud_annotated_.channels[0].values[nr_p] = rgb; nr_p++; } }

Definition at line 452 of file semantic_point_annotator_omp.cpp.

void SemanticPointAnnotator::cloud_cb ( const PointCloudConstPtr & cloud_in ) [inline]

Definition at line 161 of file semantic_point_annotator.cpp.

void SemanticPointAnnotator::computeConcaveHull	(	const sensor_msgs::PointCloud &	points,
		const vector< int > &	indices,
		const vector< double > &	coeff,
		const vector< vector< int > > &	neighbors,
		geometry_msgs::Polygon &	poly
	)			`[inline]`

Definition at line 428 of file semantic_point_annotator_omp.cpp.

void SemanticPointAnnotator::findClusters	(	const sensor_msgs::PointCloud &	points,
		const vector< int > &	indices,
		double	tolerance,
		vector< Region > &	clusters,
		int	nx_idx,
		int	ny_idx,
		int	nz_idx,
		unsigned int	min_pts_per_cluster = `1`
	)			`[inline]`

Decompose a region of space into clusters based on the euclidean distance between points.

Parameters:

	points	the point cloud message
	indices	a list of point indices
	tolerance	the spatial tolerance as a measure in the L2 Euclidean space
	clusters	the resultant clusters
	nx_idx
	ny_idx
	nz_idx
	min_pts_per_cluster	minimum number of points that a cluster may contain (default = 1)

Definition at line 181 of file semantic_point_annotator_omp.cpp.

int SemanticPointAnnotator::fitSACPlane	(	sensor_msgs::PointCloud *	points,
		vector< int > *	indices,
		vector< vector< int > > &	inliers,
		vector< vector< double > > &	coeff
	)			`[inline]`

Definition at line 300 of file semantic_point_annotator_omp.cpp.

void SemanticPointAnnotator::fitSACPlane	(	PointCloud *	points,
		vector< int > *	indices,
		vector< vector< int > > &	inliers,
		vector< vector< double > > &	coeff
	)			`[inline]`

Definition at line 121 of file semantic_point_annotator.cpp.

void SemanticPointAnnotator::getObjectClassForParallel	(	sensor_msgs::PointCloud *	points,
		vector< int > *	indices,
		vector< double > *	coeff,
		geometry_msgs::PointStamped	map_origin,
		double &	rgb
	)			`[inline]`

Definition at line 358 of file semantic_point_annotator_omp.cpp.

void SemanticPointAnnotator::getObjectClassForPerpendicular	(	sensor_msgs::PointCloud *	points,
		vector< int > *	indices,
		double &	rgb
	)			`[inline]`

Definition at line 403 of file semantic_point_annotator_omp.cpp.

void SemanticPointAnnotator::sortConcaveHull2D	(	const sensor_msgs::PointCloud &	points,
		const vector< int > &	indices,
		geometry_msgs::Polygon &	poly
	)			`[inline]`