IRI ROS Specific Driver Class. More...

#include <plane_segmentation_pcl_rgb_alg.h>

Public Types
typedef iri_plane_segmentation_pcl_rgb::PlaneSegmentationPclRgbConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	fixPlaneCoefficientsOrientation (pcl::ModelCoefficients::Ptr coefs)
	Makes the plane normal point at the camera direction.
pcl::PointCloud< pcl::PointXYZ > ::Ptr	getBiggestClusterPC (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_orig)
	get biggest cluster pointcloud
void	getBiggestPlaneInliers (pcl::PointIndices::Ptr inliers, pcl::ModelCoefficients::Ptr coefficients, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud)
	get biggest plane's inliers
void	getBiggestPlaneInliersDownsampling (pcl::PointIndices::Ptr inliers, pcl::ModelCoefficients::Ptr coefficients, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud)
	get biggest plane's inliers
void	getNearestBigPlaneInliers (pcl::PointIndices::Ptr inliers, pcl::ModelCoefficients::Ptr coefficients, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_orig)
void	lock (void)
	Lock Algorithm.
	PlaneSegmentationPclRgbAlgorithm (void)
	constructor
double	pointToPlaneDistance (const pcl::PointXYZ &p, const std::vector< float > &plane_coefficients)
double	pointToPlaneDistanceSigned (const pcl::PointXYZ &p, const std::vector< float > &plane_coefficients)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	segmentBiggestPlane (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud_rgb_orig, pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_orig, pcl::ModelCoefficients::Ptr coefficients)
	get biggest plane pointcloud
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~PlaneSegmentationPclRgbAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Attributes
bool	choose_nearest_plane
bool	choose_plane_by_distance
bool	plane_clustering
double	plane_max_height
double	plane_min_cluster_distance
int	plane_min_cluster_size
double	plane_min_height
int	plane_segm_iterations
double	plane_segm_probability
double	plane_size_thresh
bool	pointcloud_downsample
double	pointcloud_downsample_size

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 63 of file plane_segmentation_pcl_rgb_alg.h.

Member Typedef Documentation

typedef iri_plane_segmentation_pcl_rgb::PlaneSegmentationPclRgbConfig PlaneSegmentationPclRgbAlgorithm::Config

define config type

Define a Config type with the PlaneSegmentationPclRgbConfig. All driver implementations will then use the same variable type Config.

Definition at line 106 of file plane_segmentation_pcl_rgb_alg.h.

Constructor & Destructor Documentation

PlaneSegmentationPclRgbAlgorithm::PlaneSegmentationPclRgbAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file plane_segmentation_pcl_rgb_alg.cpp.

PlaneSegmentationPclRgbAlgorithm::~PlaneSegmentationPclRgbAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 7 of file plane_segmentation_pcl_rgb_alg.cpp.

Member Function Documentation

void PlaneSegmentationPclRgbAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 11 of file plane_segmentation_pcl_rgb_alg.cpp.

void PlaneSegmentationPclRgbAlgorithm::fixPlaneCoefficientsOrientation ( pcl::ModelCoefficients::Ptr coefs )

Makes the plane normal point at the camera direction.

Makes the plane normal point at the camera direction. If it was pointing in the opposite direction, it just inverts it.

Definition at line 224 of file plane_segmentation_pcl_rgb_alg.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr PlaneSegmentationPclRgbAlgorithm::getBiggestClusterPC ( pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_orig )

get biggest cluster pointcloud

Gets the biggest cluster pointcloud

Definition at line 242 of file plane_segmentation_pcl_rgb_alg.cpp.

void PlaneSegmentationPclRgbAlgorithm::getBiggestPlaneInliers	(	pcl::PointIndices::Ptr	inliers,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud
	)

get biggest plane's inliers

Gets the inliers of the points in biggest plane, and the plane coefficients.

Definition at line 201 of file plane_segmentation_pcl_rgb_alg.cpp.

void PlaneSegmentationPclRgbAlgorithm::getBiggestPlaneInliersDownsampling	(	pcl::PointIndices::Ptr	inliers,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud
	)

get biggest plane's inliers

Gets the inliers of the points in biggest plane, and the plane coefficients. It also downsamples the pointcloud to have better performance

Definition at line 72 of file plane_segmentation_pcl_rgb_alg.cpp.

void PlaneSegmentationPclRgbAlgorithm::getNearestBigPlaneInliers	(	pcl::PointIndices::Ptr	inliers,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_orig
	)

Definition at line 137 of file plane_segmentation_pcl_rgb_alg.cpp.

void PlaneSegmentationPclRgbAlgorithm::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 131 of file plane_segmentation_pcl_rgb_alg.h.

double PlaneSegmentationPclRgbAlgorithm::pointToPlaneDistance	(	const pcl::PointXYZ &	p,
		const std::vector< float > &	plane_coefficients
	)		`[inline]`

Definition at line 227 of file plane_segmentation_pcl_rgb_alg.h.

double PlaneSegmentationPclRgbAlgorithm::pointToPlaneDistanceSigned	(	const pcl::PointXYZ &	p,
		const std::vector< float > &	plane_coefficients
	)		`[inline]`

Definition at line 233 of file plane_segmentation_pcl_rgb_alg.h.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr PlaneSegmentationPclRgbAlgorithm::segmentBiggestPlane	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud_rgb_orig,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_orig,
		pcl::ModelCoefficients::Ptr	coefficients
	)