image_segmentation_demo::TableDetector Class Reference

#include <table_detector.h>

Public Types
typedef pcl::KdTree< Point >::Ptr	KdTreePtr
typedef pcl::PointXYZ	Point
Public Member Functions
bool	detectTable (const sensor_msgs::PointCloud2 &cloud, tabletop_object_detector::Table &table)
visualization_msgs::Marker	getTableMarker (const tabletop_object_detector::Table &table)
	TableDetector ()
	~TableDetector ()
Public Attributes
double	cluster_distance_
	Min distance between two clusters.
double	clustering_voxel_size_
	Size of downsampling grid before performing clustering.
int	inlier_threshold_
	Min number of inliers for reliable plane detection.
int	min_cluster_size_
	Min number of points for a cluster.
double	plane_detection_voxel_size_
	Size of downsampling grid before performing plane detection.
std::string	processing_frame_
double	table_z_filter_max_
double	table_z_filter_min_
	Filtering of point cloud in table frame after table detection.
double	up_direction_
	Positive or negative z is closer to the "up" direction in the processing frame?
double	z_filter_max_
double	z_filter_min_
	Filtering of original point cloud along the z axis.
Private Member Functions
bool	getPlanePoints (const pcl::PointCloud< Point > &table, const tf::Transform &table_plane_trans, sensor_msgs::PointCloud &table_points)
tf::Transform	getPlaneTransform (pcl::ModelCoefficients coeffs, double up_direction)
tabletop_object_detector::Table	getTable (const std_msgs::Header &header, const tf::Transform &table_plane_trans, const sensor_msgs::PointCloud &table_points)
Private Attributes
int	current_marker_id_
	The current table marker.

Detailed Description

Definition at line 53 of file table_detector.h.

Member Typedef Documentation

typedef pcl::KdTree<Point>::Ptr image_segmentation_demo::TableDetector::KdTreePtr

Definition at line 57 of file table_detector.h.

typedef pcl::PointXYZ image_segmentation_demo::TableDetector::Point

Definition at line 56 of file table_detector.h.

Constructor & Destructor Documentation

image_segmentation_demo::TableDetector::TableDetector ( )

Definition at line 60 of file table_detector.cpp.

image_segmentation_demo::TableDetector::~TableDetector ( )

Definition at line 76 of file table_detector.cpp.

Member Function Documentation

bool image_segmentation_demo::TableDetector::detectTable	(	const sensor_msgs::PointCloud2 &	cloud,
		tabletop_object_detector::Table &	table
	)

Definition at line 80 of file table_detector.cpp.

bool image_segmentation_demo::TableDetector::getPlanePoints	(	const pcl::PointCloud< Point > &	table,
		const tf::Transform &	table_plane_trans,
		sensor_msgs::PointCloud &	table_points
	)			`[private]`

Definition at line 344 of file table_detector.cpp.

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

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

Definition at line 310 of file table_detector.cpp.

tabletop_object_detector::Table image_segmentation_demo::TableDetector::getTable	(	const std_msgs::Header &	header,
		const tf::Transform &	table_plane_trans,
		const sensor_msgs::PointCloud &	table_points
	)			`[private]`

Definition at line 221 of file table_detector.cpp.

visualization_msgs::Marker image_segmentation_demo::TableDetector::getTableMarker ( const tabletop_object_detector::Table & table )

The point cloud is a set of points belonging to the plane, in the plane coordinate system (with the origin in the plane and the z axis normal to the plane).

It is the responsibility of the caller to set the appropriate pose for the marker so that it shows up in the right reference frame.

Definition at line 255 of file table_detector.cpp.