Public Member Functions
void	cloud_cb (const sample_consensus::PointCloud::ConstPtr &msg)
void	computeCentroid (const sample_consensus::PointCloud &points, const std::vector< int > &indices, pcl::PointXYZ &centroid)
	Compute the centroid of a set of points using their indices and return it as a Point32 message.
void	computeCovarianceMatrix (const sample_consensus::PointCloud &points, const std::vector< int > &indices, Eigen::Matrix3d &covariance_matrix, pcl::PointXYZ &centroid)
	Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d.
void	computePointNormal (const sample_consensus::PointCloud &points, const std::vector< int > &indices, Eigen::Vector4d &plane_parameters, double &curvature)
	Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.
bool	fitSACLine (sample_consensus::PointCloud points, vector< int > indices, vector< int > &inliers)
	Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods.
void	flipNormalTowardsViewpoint (Eigen::Vector4d &normal, const pcl::PointXYZ &point, const geometry_msgs::PointStamped &viewpoint)
	Flip (in place) the estimated normal of a point towards a given viewpoint.
void	getCloudViewPoint (string cloud_frame, geometry_msgs::PointStamped &viewpoint_cloud, tf::TransformListener *tf)
	Get the view point from where the scans were taken in the incoming sample_consensus::PointCloud message frame.
	IncGroundRemoval (ros::NodeHandle &anode)
double	pointToPlaneDistanceSigned (const pcl::PointXYZ &p, const Eigen::Vector4d &plane_coefficients)
	Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.
double	transformDoubleValueTF (double val, std::string src_frame, std::string tgt_frame, ros::Time stamp, tf::TransformListener *tf)
	Transform a value from a source frame to a target frame at a certain moment in time with TF.
void	transformPoint (tf::TransformListener *tf, const std::string &target_frame, const tf::Stamped< pcl::PointXYZ > &stamped_in, tf::Stamped< pcl::PointXYZ > &stamped_out)
	Transform a given point from its current frame to a given target frame.
void	updateParametersFromServer ()
virtual	~IncGroundRemoval ()
Public Attributes
sample_consensus::PointCloud	cloud_
sample_consensus::PointCloud	cloud_noground_
tf::MessageFilter < sample_consensus::PointCloud > *	cloud_notifier_
ros::Publisher	cloud_publisher_
message_filters::Subscriber < sample_consensus::PointCloud > *	cloud_subscriber_
double	ground_slope_threshold_
sample_consensus::PointCloud	laser_cloud_
std::string	laser_tilt_mount_frame_
int	planar_refine_
std::string	robot_footprint_frame_
double	sac_distance_threshold_
double	sac_fitting_distance_threshold_
int	sac_max_iterations_
int	sac_min_points_per_model_
tf::TransformListener	tf_
geometry_msgs::PointStamped	viewpoint_cloud_
double	z_threshold_
Protected Attributes
ros::NodeHandle &	node_

Detailed Description

Definition at line 64 of file sac_inc_ground_removal_standalone.cpp.

Constructor & Destructor Documentation

IncGroundRemoval::IncGroundRemoval ( ros::NodeHandle & anode ) [inline]

Definition at line 90 of file sac_inc_ground_removal_standalone.cpp.

virtual IncGroundRemoval::~IncGroundRemoval ( ) [inline, virtual]

Definition at line 133 of file sac_inc_ground_removal_standalone.cpp.

Member Function Documentation

void IncGroundRemoval::cloud_cb ( const sample_consensus::PointCloud::ConstPtr & msg ) [inline]

Definition at line 315 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computeCentroid	(	const sample_consensus::PointCloud &	points,
		const std::vector< int > &	indices,
		pcl::PointXYZ &	centroid
	)		`[inline]`

Compute the centroid of a set of points using their indices and return it as a Point32 message.

Parameters:

points	the input point cloud
indices	the point cloud indices that need to be used
centroid	the output centroid

Definition at line 224 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computeCovarianceMatrix	(	const sample_consensus::PointCloud &	points,
		const std::vector< int > &	indices,
		Eigen::Matrix3d &	covariance_matrix,
		pcl::PointXYZ &	centroid
	)		`[inline]`

Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d.

Note:: The (x-y-z) centroid is also returned as a Point32 message.

Parameters:

points	the input point cloud
indices	the point cloud indices that need to be used
covariance_matrix	the 3x3 covariance matrix
centroid	the computed centroid

Definition at line 250 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computePointNormal	(	const sample_consensus::PointCloud &	points,
		const std::vector< int > &	indices,
		Eigen::Vector4d &	plane_parameters,
		double &	curvature
	)		`[inline]`

Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.

Parameters:

points	the input point cloud
indices	the point cloud indices that need to be used
plane_parameters	the plane parameters as: a, b, c, d (ax + by + cz + d = 0)
curvature	the estimated surface curvature as a measure of $\lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2)$

Definition at line 285 of file sac_inc_ground_removal_standalone.cpp.

bool IncGroundRemoval::fitSACLine	(	sample_consensus::PointCloud *	points,
		vector< int > *	indices,
		vector< int > &	inliers
	)		`[inline]`

Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods.

Parameters:

points	the point cloud message
indices	a pointer to a set of point cloud indices to test
inliers	the resultant inliers

Definition at line 152 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::flipNormalTowardsViewpoint	(	Eigen::Vector4d &	normal,
		const pcl::PointXYZ &	point,
		const geometry_msgs::PointStamped &	viewpoint
	)		`[inline]`

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:

normal	the plane normal to be flipped
point	a given point
viewpoint	the viewpoint

Definition at line 196 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::getCloudViewPoint	(	string	cloud_frame,
		geometry_msgs::PointStamped &	viewpoint_cloud,
		tf::TransformListener *	tf
	)		`[inline]`

Get the view point from where the scans were taken in the incoming sample_consensus::PointCloud message frame.

Parameters:

cloud_frame	the point cloud message TF frame
viewpoint_cloud	the resultant view point in the incoming cloud frame
tf	a pointer to a TransformListener object

Definition at line 459 of file sac_inc_ground_removal_standalone.cpp.

double IncGroundRemoval::pointToPlaneDistanceSigned	(	const pcl::PointXYZ &	p,
		const Eigen::Vector4d &	plane_coefficients
	)		`[inline]`

Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.

Parameters:

p	a point
plane_coefficients	the normalized coefficients (a, b, c, d) of a plane

Definition at line 447 of file sac_inc_ground_removal_standalone.cpp.

double IncGroundRemoval::transformDoubleValueTF	(	double	val,
		std::string	src_frame,
		std::string	tgt_frame,
		ros::Time	stamp,
		tf::TransformListener *	tf
	)		`[inline]`

Transform a value from a source frame to a target frame at a certain moment in time with TF.

Parameters:

val	the value to transform
src_frame	the source frame to transform the value from
tgt_frame	the target frame to transform the value into
stamp	a given time stamp
tf	a pointer to a TransformListener object

Definition at line 527 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::transformPoint	(	tf::TransformListener *	tf,
		const std::string &	target_frame,
		const tf::Stamped< pcl::PointXYZ > &	stamped_in,
		tf::Stamped< pcl::PointXYZ > &	stamped_out
	)		`[inline]`