head_registration.h File Reference

#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include <pcl/registration/ia_ransac.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/segmentation/extract_clusters.h>
#include <hrl_head_registration/pcl_basic.h>
#include <hrl_head_registration/skin_color_util.h>
#include <hrl_head_registration/hsl_rgb_conversions.h>

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Defines
#define	COPY_PT_INTO_CLOUD(source, dest, ind)
#define	PT_IS_NOT_NAN(pc, ind)
Typedefs
typedef pcl::KdTree< PRGB >	KDTree
Functions
void	extractFace (const PCRGB::Ptr &input_pc, PCRGB::Ptr &out_pc, int u_click, int v_click)
void	extractFaceColorModel (const PCRGB::Ptr &input_pc, PCRGB::Ptr &out_pc, int u_click, int v_click)
void	extractSkinPC (const PCRGB::Ptr &pc_in, PCRGB::Ptr &pc_out, double thresh)
int32_t	findClosestPoint (const PCRGB::Ptr &pc, uint32_t u, uint32_t v)
bool	findFaceRegistration (const PCRGB::Ptr &template_pc, const PCRGB::Ptr &input_pc, int u_click, int v_click, Eigen::Affine3d &tf_mat)
void	sphereTrim (const PCRGB::Ptr &pc_in, PCRGB::Ptr &pc_out, uint32_t ind, double radius)

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Define Documentation

#define COPY_PT_INTO_CLOUD	(		source,
			dest,
			ind
	)

Value:

do { \
    PRGB pt; \
    pt.x = source->points[ind].x; pt.y = source->points[ind].y; pt.z = source->points[ind].z; \
    pt.rgb = source->points[ind].rgb; \
    dest->points.push_back(pt); \
} while(0)

Definition at line 16 of file head_registration.h.

#define PT_IS_NOT_NAN	(		pc,
			ind
	)

Value:

( (pc)->points[(ind)].x == (pc)->points[(ind)].x && \
                                 (pc)->points[(ind)].y == (pc)->points[(ind)].y && \
                                 (pc)->points[(ind)].z == (pc)->points[(ind)].z  )

Definition at line 24 of file head_registration.h.

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Typedef Documentation

typedef pcl::KdTree<PRGB> KDTree

Definition at line 14 of file head_registration.h.

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Function Documentation

void extractFace	(	const PCRGB::Ptr &	input_pc,
		PCRGB::Ptr &	out_pc,
		int	u_click,
		int	v_click
	)

Definition at line 158 of file head_registration.cpp.

void extractFaceColorModel	(	const PCRGB::Ptr &	input_pc,
		PCRGB::Ptr &	out_pc,
		int	u_click,
		int	v_click
	)

Definition at line 172 of file head_registration.cpp.

void extractSkinPC	(	const PCRGB::Ptr &	pc_in,
		PCRGB::Ptr &	pc_out,
		double	thresh
	)

Definition at line 6 of file head_registration.cpp.

int32_t findClosestPoint	(	const PCRGB::Ptr &	pc,
		uint32_t	u,
		uint32_t	v
	)

Definition at line 20 of file head_registration.cpp.

bool findFaceRegistration	(	const PCRGB::Ptr &	template_pc,
		const PCRGB::Ptr &	input_pc,
		int	u_click,
		int	v_click,
		Eigen::Affine3d &	tf_mat
	)

Definition at line 194 of file head_registration.cpp.

void sphereTrim	(	const PCRGB::Ptr &	pc_in,
		PCRGB::Ptr &	pc_out,
		uint32_t	ind,
		double	radius
	)

Definition at line 67 of file head_registration.cpp.