PlanarFit Class Reference

Public Member Functions
void	cloud_cb (const sensor_msgs::PointCloud::ConstPtr &cloud)
bool	detect_wall (stereo_wall_detection::DetectWall::Request &req, stereo_wall_detection::DetectWall::Response &resp)
bool	fitSACPlane (sensor_msgs::PointCloud *points, vector< int > &inliers, vector< double > &coeff, const geometry_msgs::PointStamped &viewpoint_cloud, double dist_thresh)
	Find a plane model in a point cloud with SAmple Consensus methods.
	PlanarFit ()
void	publishNormal (const geometry_msgs::Point32 &position, Eigen::Quaternionf orientation, const std_msgs::Header &header, double length)
	Publish the normals as cute little lines : assumes normalized point normals !
virtual	~PlanarFit ()
Public Attributes
sensor_msgs::PointCloud	cloud_msg_
boost::mutex	cloud_msg_mutex_
string	cloud_topic_
int	k_
geometry_msgs::Point	leaf_width_
double	max_dist_
int	normals_fidelity_
ros::Publisher	plane_normal_pub_
double	radius_
bool	received_cloud_
double	sac_distance_threshold_
double	sac_normal_distance_weight_
double	sac_normal_inlier_distance_weight_
int	sac_use_normals_
ros::ServiceServer	serv_
bool	subscriber_enabled_
ros::Publisher	vis_pub_
Protected Attributes
ros::NodeHandle	nh_

Detailed Description

Definition at line 73 of file wall_extractor.cpp.

PlanarFit::PlanarFit ( ) [inline]

Definition at line 106 of file wall_extractor.cpp.

virtual PlanarFit::~PlanarFit ( ) [inline, virtual]

Definition at line 130 of file wall_extractor.cpp.

void PlanarFit::cloud_cb ( const sensor_msgs::PointCloud::ConstPtr & cloud ) [inline]

Definition at line 135 of file wall_extractor.cpp.

bool PlanarFit::detect_wall	(	stereo_wall_detection::DetectWall::Request &	req,
		stereo_wall_detection::DetectWall::Response &	resp
	)			`[inline]`

Definition at line 147 of file wall_extractor.cpp.

bool PlanarFit::fitSACPlane	(	sensor_msgs::PointCloud *	points,
		vector< int > &	inliers,
		vector< double > &	coeff,
		const geometry_msgs::PointStamped &	viewpoint_cloud,
		double	dist_thresh
	)			`[inline]`

Find a plane model in a point cloud with SAmple Consensus methods.

Parameters:

	points	the point cloud message
	inliers	the resultant planar inliers
	coeff	the resultant plane coefficients
	viewpoint_cloud	a point to the pose where the data was acquired from (for normal flipping)
	dist_thresh	the maximum allowed distance threshold of an inlier to the model
	min_pts	the minimum number of points allowed as inliers for a plane model

Definition at line 276 of file wall_extractor.cpp.

void PlanarFit::publishNormal	(	const geometry_msgs::Point32 &	position,
		Eigen::Quaternionf	orientation,
		const std_msgs::Header &	header,
		double	length
	)			`[inline]`

Publish the normals as cute little lines : assumes normalized point normals !

Parameters:

	points	pointer to the point cloud message
	indices	indices of the point cloud normals to publish
	nx_idx	the index of the x normal
	ny_idx	the index of the y normal
	nz_idx	the index of the z normal
	length	the length of the normal lines
	width	the width of the normal lines