fast_plane_detection::PlaneDetection Class Reference

#include <plane_detection.h>

List of all members.

Public Member Functions
void	GetHistX (sensor_msgs::Image &image, float &beta, float &disp)
void	GetHistY (sensor_msgs::Image &image, float &beta, float &disp)
void	GetLabels (sensor_msgs::Image &image)
void	GetMeanSquaredError (float &mean_error)
void	GetNDisp (int &n_disp)
void	GetNInliers (int &n_inliers)
void	GetPlaneParameters (float &alpha, float &beta, float &d, int &min_x, int &max_x, int &min_y, int &max_y)
float	GetSpreadX ()
float	GetSpreadY ()
void	GetSumOfSquaredError (float &error)
	PlaneDetection (int drange, int w, int h, bool find_table, std_msgs::Header img_header, bool search_y=true)
void	Update (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
	~PlaneDetection ()
Private Member Functions
void	Update_X (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
void	Update_Y (const stereo_msgs::DisparityImage::ConstPtr &disparity_image)
Private Attributes
float	alpha_
	plane parameters (alpha_*x + beta_*y + disp_ = d)
float	beta_
float	disp_
int	drange_
	Disparity Range.
float	err_
	sum of squared error
bool	find_table_
int	height_
sensor_msgs::Image	hist_x_
	Histogram Image X.
sensor_msgs::Image	hist_y_
	Histogram Image Y.
sensor_msgs::Image	labels_
	Labeled Image.
int	max_x_
int	max_y_
float	min_beta_
int	min_x_
	limits of visible plane
int	min_y_
int	n_disps_
	number of valid disparities
int	n_inliers_
	number of inliers
bool	search_y_
	Search over X or Y.
float	spread_d_x_
float	spread_d_y_
	mean squared error
float	tmp_beta_
float	tmp_beta_x_
float	tmp_disp_
float	tmp_disp_x_
int	width_
	image dimensions

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Detailed Description

Definition at line 40 of file plane_detection.h.

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Constructor & Destructor Documentation

fast_plane_detection::PlaneDetection::PlaneDetection	(	int	drange,
		int	w,
		int	h,
		bool	find_table,
		std_msgs::Header	img_header,
		bool	search_y = true
	)

Definition at line 40 of file plane_detection.cpp.

fast_plane_detection::PlaneDetection::~PlaneDetection

(

)

Definition at line 90 of file plane_detection.cpp.

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Member Function Documentation

void fast_plane_detection::PlaneDetection::GetHistX	(	sensor_msgs::Image &	image,
		float &	beta,
		float &	disp
	)

Definition at line 563 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::GetHistY	(	sensor_msgs::Image &	image,
		float &	beta,
		float &	disp
	)

Definition at line 555 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::GetLabels

(

sensor_msgs::Image &

image

)

Definition at line 550 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::GetMeanSquaredError

(

float &

mean_error

)

Definition at line 586 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::GetNDisp

(

int &

n_disp

)

Definition at line 581 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::GetNInliers

(

int &

n_inliers

)

Definition at line 576 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::GetPlaneParameters	(	float &	alpha,
		float &	beta,
		float &	d,
		int &	min_x,
		int &	max_x,
		int &	min_y,
		int &	max_y
	)

Definition at line 523 of file plane_detection.cpp.

float fast_plane_detection::PlaneDetection::GetSpreadX

(

)

Definition at line 540 of file plane_detection.cpp.

float fast_plane_detection::PlaneDetection::GetSpreadY

(

)

Definition at line 545 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::GetSumOfSquaredError

(

float &

error

)

Definition at line 571 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::Update

(

const stereo_msgs::DisparityImage::ConstPtr &

disparity_image

)

Definition at line 93 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::Update_X

(

const stereo_msgs::DisparityImage::ConstPtr &

disparity_image

)

[private]

Definition at line 311 of file plane_detection.cpp.

void fast_plane_detection::PlaneDetection::Update_Y

(

const stereo_msgs::DisparityImage::ConstPtr &

disparity_image

)

[private]

Definition at line 102 of file plane_detection.cpp.

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Member Data Documentation

float fast_plane_detection::PlaneDetection::alpha_ [private]

plane parameters (alpha_*x + beta_*y + disp_ = d)

Definition at line 105 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::beta_ [private]

Definition at line 106 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::disp_ [private]

Definition at line 107 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::drange_ [private]

Disparity Range.

Definition at line 87 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::err_ [private]

sum of squared error

Definition at line 114 of file plane_detection.h.

bool fast_plane_detection::PlaneDetection::find_table_ [private]

Minimum beta of plane parameters (for restricting plane orientation)

Definition at line 98 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::height_ [private]

Definition at line 90 of file plane_detection.h.

sensor_msgs::Image fast_plane_detection::PlaneDetection::hist_x_ [private]

Histogram Image X.

Definition at line 82 of file plane_detection.h.

sensor_msgs::Image fast_plane_detection::PlaneDetection::hist_y_ [private]

Histogram Image Y.

Definition at line 77 of file plane_detection.h.

sensor_msgs::Image fast_plane_detection::PlaneDetection::labels_ [private]

Labeled Image.

Definition at line 74 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::max_x_ [private]

Definition at line 93 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::max_y_ [private]

Definition at line 94 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::min_beta_ [private]

Definition at line 99 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::min_x_ [private]

limits of visible plane

Definition at line 93 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::min_y_ [private]

Definition at line 94 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::n_disps_ [private]

number of valid disparities

Definition at line 120 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::n_inliers_ [private]

number of inliers

Definition at line 117 of file plane_detection.h.

bool fast_plane_detection::PlaneDetection::search_y_ [private]

Search over X or Y.

Definition at line 102 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::spread_d_x_ [private]

Definition at line 111 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::spread_d_y_ [private]

mean squared error

Definition at line 110 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::tmp_beta_ [private]

Definition at line 78 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::tmp_beta_x_ [private]

Definition at line 83 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::tmp_disp_ [private]

Definition at line 79 of file plane_detection.h.

float fast_plane_detection::PlaneDetection::tmp_disp_x_ [private]

Definition at line 84 of file plane_detection.h.

int fast_plane_detection::PlaneDetection::width_ [private]

image dimensions

Definition at line 90 of file plane_detection.h.

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The documentation for this class was generated from the following files:

• plane_detection.h
• plane_detection.cpp