srs_env_model_percp::SceneModel Class Reference

#include <scene_model.h>

Public Types
typedef but_plane_detector::Plane < float >	tPlane
typedef std::vector< tPlane, Eigen::aligned_allocator < tPlane > >	tPlanes
Public Member Functions
void	AddNext (but_plane_detector::Normals &normals, double min_current)
void	AddNext (cv::Mat &depth, const sensor_msgs::CameraInfoConstPtr &cam_info, but_plane_detector::Normals &normals, double min_current)
void	clearNoise (double minValue)
void	recomputePlanes (double min_current, double min_global, int blur, int search_neighborhood, double substraction)
	SceneModel (double max_depth=3.0, double min_shift=-40.0, double max_shift=40.0, int angle_resolution=512, int shift_resolution=4096, int gauss_angle_res=11, int gauss_shift_res=11, double gauss_angle_sigma=0.04, double gauss_shift_sigma=0.15, int lvl1_gauss_angle_res=21, int lvl1_gauss_shift_res=21, double lvl1_gauss_angle_sigma=5.0, double lvl1_gauss_shift_sigma=5.0, double plane_merge_angle=0.3, double plane_merge_shift=0.1)
Public Attributes
ParameterSpaceHierarchy	current_space
ParameterSpace	gauss
ParameterSpace	gaussPlane
double	indexFactor
double	m_angle_max
double	m_angle_min
int	m_angle_res
double	m_depth
double	m_plane_merge_angle
double	m_plane_merge_shift
double	m_shift_max
double	m_shift_min
int	m_shift_res
int	max_plane
tPlanes	planes
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	scene_cloud
ParameterSpaceHierarchy	space

Detailed Description

Definition at line 65 of file scene_model.h.

Member Typedef Documentation

typedef but_plane_detector::Plane<float> srs_env_model_percp::SceneModel::tPlane

Definition at line 68 of file scene_model.h.

typedef std::vector<tPlane, Eigen::aligned_allocator<tPlane> > srs_env_model_percp::SceneModel::tPlanes

Definition at line 69 of file scene_model.h.

Constructor & Destructor Documentation

srs_env_model_percp::SceneModel::SceneModel	(	double	max_depth = `3.0`,
		double	min_shift = `-40.0`,
		double	max_shift = `40.0`,
		int	angle_resolution = `512`,
		int	shift_resolution = `4096`,
		int	gauss_angle_res = `11`,
		int	gauss_shift_res = `11`,
		double	gauss_angle_sigma = `0.04`,
		double	gauss_shift_sigma = `0.15`,
		int	lvl1_gauss_angle_res = `21`,
		int	lvl1_gauss_shift_res = `21`,
		double	lvl1_gauss_angle_sigma = `5.0`,
		double	lvl1_gauss_shift_sigma = `5.0`,
		double	plane_merge_angle = `0.3`,
		double	plane_merge_shift = `0.1`
	)

Constructor - initializes a scene and allocates necessary space - a space of (angle, angle, d) where angles are angles of plane normal and d is d parameter of plane equation.

Parameters:

	max_depth	Maximum computed depth by each frame in meters (default 3.0)
	min_shift	Minimal d parameter value (ax + by + cz + d = 0) in Hough space (default -40.0)
	max_shift	Maximal d parameter value (ax + by + cz + d = 0) in Hough space (default 40.0)
	angle_resolution	Angle coordinates resolution (Hough space size in angle directions) (default 512)
	shift_resolution	d parameter coordinates resolution (Hough space size in angle directions) (default 4096)
	gauss_angle_res	Angle resolution of added Gauss function (default 11)
	gauss_shift_res	d parameter resolution of added Gauss function (default 11)
	gauss_angle_sigma	Sigma of added Gauss function in angle coordinates (default 11)
	gauss_shift_sigma	Sigma of added Gauss function in d parameter coordinates (default 11)

Definition at line 58 of file scene_model.cpp.

Member Function Documentation

void srs_env_model_percp::SceneModel::AddNext	(	but_plane_detector::Normals &	normals,
		double	min_current
	)

Function adds a depth map with computed normals into existing Hough space

Parameters:

normals

Normals object (point cloud with precomputed normals)

Definition at line 400 of file scene_model.cpp.

void srs_env_model_percp::SceneModel::AddNext	(	cv::Mat &	depth,
		const sensor_msgs::CameraInfoConstPtr &	cam_info,
		but_plane_detector::Normals &	normals,
		double	min_current
	)