#include <StructureColoring.h>

Inheritance diagram for StructureColoring:

Classes
struct	SphereBin
Public Types
typedef Cylinder3D::Cylinder3DPtr	Cylinder3DPtr
typedef CylinderPatch::CylinderPatches	CylinderPatches
typedef CylinderPatch::CylinderPatchPtr	CylinderPatchPtr
typedef std::vector < CylinderPatchPtr >	CylinderPatchVector
typedef std::vector< NodePair >	NodePairs
typedef Plane3D::Plane3DPtr	Plane3DPtr
typedef PlanePatch::PlanePatches	PlanePatches
typedef PlanePatch::PlanePatchPtr	PlanePatchPtr
typedef std::vector < PlanePatchPtr >	PlanePatchVector
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
typedef pcl::PointXYZRGB	PointT
Public Member Functions
void	doSegmentation (PointCloudPtr pointCloud, PlanePatchVector &pointMapping, PlanePatches &extractedPlanes, CylinderPatchVector &pointMappingCylinders, CylinderPatches &extractedCylinders)
void	filterCloud (PointCloud &pointCloud, std::vector< unsigned int > &undefPoints, const float &zMin, const float &zMax)
void	filterMsgSetupCloud (PointCloud &pointCloud, const sensor_msgs::PointCloud2ConstPtr &pMsg, double zMin, double zMax, bool fromKinect, bool writePic=false, const std::string &picFilename="", unsigned int picCounter=0)
void	getPointsFromFile ()
	getPointsFromFile Start segmentation. Parameters were given through object construction.
void	init (ros::NodeHandle &n, int argc, char *argv[])
void	init (int argc, char *argv[])
void	init ()
void	pointCloud2Callback (const sensor_msgs::PointCloud2ConstPtr &msg)
	pointCloud2Callback This method should be called via subscription to a PointCloud2 topic.
void	pointCloudCallback (const sensor_msgs::PointCloudConstPtr &msg)
	pointCloudCallback This method should be called via subscription to a PointCloud topic.
void	readPointCloudFromPCD (PointCloud &pointCloud, const std::string &filename, unsigned int &width, unsigned int &height, std::vector< unsigned int > &undefPoints, const float &zMin, const float &zMax)
void	setParams (StrColParams params)
	StructureColoring (ros::NodeHandle &n, int argc, char *argv[])
	StructureColoring Construct a new StrcutureColoring object from a nodeHandle and console parameters.
	StructureColoring (int argc, char *argv[])
	StructureColoring Construct a new StructureColoring object from console parameters only.
	StructureColoring ()
	StructureColoring Construct a new StructureColoring object without any params.
bool	waitOnKinectMsgs ()
	waitOnKinectMsgs Check if object waits for kinect messages.
bool	waitOnLaserMsgs ()
	waitOnLaserMsgs Check if object waits for laser messages.
virtual	~StructureColoring ()
	StructureColoring Destructor.
Protected Types
typedef boost::shared_ptr < GridMap >	GridMapPtr
typedef Eigen::Matrix3f	Mat3
typedef std::vector < PlanePatchVector >	NodeIndexToPlanePatchPointers
typedef std::vector< int >	NodeIndices
typedef OcTree::NodePointerList	NodePointerList
typedef OcTree::NodePointers	NodePointers
typedef OcTree::NodePtr	NodePtr
typedef std::list< NodePtr >	NodePtrList
typedef std::vector < NodePtrList::iterator >	NodePtrListIters
typedef OcTree::Allocator	OctreeAllocator
typedef OcTree::OctreePtr	OctreePtr
typedef boost::shared_ptr< OcTree >	OcTreePtr
typedef OcTree::SamplingMap	OctreeSamplingMap
typedef std::pair< unsigned int, unsigned int >	Pair2ui
typedef std::vector< int >	PairIndices
typedef std::pair < PlanePatches::iterator, bool >	PatchIterBoolPair
typedef std::vector < PatchIterBoolPair >	PatchIterBoolPairVector
typedef std::pair < PlanePatches::iterator, NodePointers >	PatchIterNodePointersPair
typedef std::vector < PatchIterNodePointersPair >	PatchIterNodePointersPairs
typedef std::map < PlanePatchPtr, NodeIndices, CompPlanePtr >	PatchToNodeIndicesMap
typedef std::map < PlanePatchPtr, NodePointers, CompPlanePtr >	PatchToNodePointersMap
typedef std::map < PlanePatchPtr, PointIndices, CompPlanePtr >	PatchToPointIndicesMap
typedef pcl::PointIndices	pclPointIndices
typedef std::pair < PlanePatches::iterator, PointIndices >	PlanePatchIterPointIndicesPair
typedef std::vector < PlanePatchIterPointIndicesPair >	PlanePatchIterPointIndicesPairs
typedef std::vector< int >	PointIndices
typedef std::vector< Vec3, Eigen::aligned_allocator< Vec3 > >	Points
typedef std::vector< SphereBin >	SphereBins
typedef std::vector< SphereBins >	SphereBinsVec
typedef std::vector < SphereUniformSampling >	SphereUniformSamplings
typedef std::vector< unsigned int >	uints
typedef OcTree::ValueClass	ValueClass
typedef Eigen::Vector3f	Vec3
Protected Member Functions
void	addNodesToPlane (PlanePatchPtr &plane, const NodePointers &nodes, const OcTree &octree, const PointCloud &pointCloud, PlanePatchVector &pointMapping)
	addNodesToPlane Add unsegmented points in nodes to plane and it's connected component grid.
void	addPlanePatchesAndUpdateSegmented (PlanePatches &extractedPlanes, PlanePatchVector &pointMapping, const PlanePatches &planePatches)
void	assignNodesToCylinders (NodePointers &octreeNodes, CylinderPatches &extractedCylinders, CylinderPatchVector &pointMapping, const OcTree &octree, const PointCloud &pointCloud)
	assignNodePairsToCylinders Check all nodePairs from input if they are candidates for previously found cylinders
void	assignNodesToPlanes (NodePointers &notAssignedOctreeNodes, const unsigned int &octreeDepth, const OcTree &octree, PlanePatches &extractedPlanes, const PointCloud &pointCloud, PlanePatchVector &pointMapping)
	assignNodesToPlanes Check all nodes in octreeDepth against all planes in mFilteredPlanePatches with respect to node's mean position and it's normal. Generate vector of unassigned nodes.
void	calculateMiddlePlane (Plane3D &outParams, const PlanePatch &firstPPP, const PlanePatch &secondPPP)
	Calculate a plane, that parts two planes in the middle through its intersection line.
void	callPublisher (const OcTree &octree, PlanePatches &extractedPlanes, const CylinderPatches &extractedCylinders, const PointCloudPtr pointCloud, const PlanePatchVector &pointMapping, const CylinderPatchVector &cylinderPointMapping)
bool	checkCylinder (const CylinderPatchPtr &cylinder, const PointCloudPtr &pointCloud) const
bool	checkCylinderDimensions (const CylinderPatchPtr &cylinder) const
void	determineCandidatePlanes (PatchToNodeIndicesMap &outIndicesMap, PatchToNodePointersMap &outPointersMap, const NodePointers &octreeNodes, PlanePatches &extractedPlanes)
	For every node in.
void	determineCandidatePlanes (NodeIndexToPlanePatchPointers &nodeToPlaneCandidates, const NodePointers &octreeNodes, PlanePatches &extractedPlanes)
void	estimateCylinder (pclPointIndices &inliers, CylinderPatchPtr &cylinder, unsigned int &numPointsBefRansac, const NodePointers &octreeNodes, const OcTree &octree, const PointCloudPtr &pointCloud, const float &sacDist, const float &normalDistanceWeight, const float &minRadius, const float &maxRadius)
void	estimateCylinderFromNodes (NodeIndices &inliers, CylinderPatchPtr &cylinder, const NodePointers &octreeNodes, const OcTree &octree, const PointCloudPtr &pointCloud, const float &sacDist, const float &normalDistanceWeight, const float &minRadius, const float &maxRadius)
void	estimateCylinderHT (const SphereUniformSampling &cylinderOrientationBins, const NodePairs &nodePairs, PairIndices &inlierIndices, CylinderPatchPtr &cylinder, const unsigned int &depth, const OcTree &octree, const CylinderPatchVector &pointMapping, const PointCloud &pointCloud, const float &minRadius, const float &maxRadius)
	Estimate cylinder params, starting from cylinder orientation Hough space.
void	estimateCylinderNNNormals (CylinderPatchPtr &cylinder, const PointCloudPtr &pointCloud, const float &sacDist, const float &normalDistanceWeight, const float &minRadius, const float &maxRadius, float searchRadius, const Vec3 &initialAxis)
void	estimatePlane (const pclPointIndices::Ptr &inliers, PlanePatchPtr &planePatch, const PointCloudPtr &pointCloud, const float &sacDist)
void	estimatePlaneSingleSphereOctreeHT (pclPointIndices &inliers, Plane3DPtr &planePatch, const SphereUniformSamplings &houghBins, const SphereBinsVec &pointNeighborBins, const NodePointers &octreeNodes, NodeIndices &inlierNodes, const PointCloud &pointCloud, const OcTree &octree, const unsigned int &depth, const PlanePatchVector &pointMapping)
void	extractOctreeCylindersFromCloud (CylinderPatches &extractedCylinders, CylinderPatchVector &pointMapping, const OcTree &octree, const PointCloudPtr &pointCloud)
	extractOctreePlanesFromCloud Main segmentation is done here. Most other methods are called from here.
void	extractOctreePlanesFromCloud (PlanePatches &extractedPlanes, PlanePatchVector &pointMapping, const OcTree &octree, const PointCloudPtr &pointCloud)
	extractOctreePlanesFromCloud Main segmentation is done here. Most other methods are called from here.
void	filterConnectedNodes (std::vector< NodePointers > &CCInlierNodes, const Plane3D &pp, const NodePointers &octreeNodes, float cellSize, GridMap oldGridMap=NULL, NodePointers notConnectedNodesOutput=NULL)
void	generateCylinderOrientationHB (SphereUniformSampling &cylinderOrientationBins, SphereBinsVec &binNeighborhood, const NodePairs &nodePairs)
	Generate Hough space for cylinder orientation.
void	generateNeighboringNodePairs (NodePairs &nodePairs, NodePointers &octreeNodes, const unsigned int neighborhoodSize, const unsigned int &currentOctreeDepth, const OcTree &octree)
	Get all pairs of nodes that are close to each other.
void	generateSingleSphereOctreeHTBins (SphereUniformSamplings &houghBins, SphereBinsVec &pointNeighborBins, const NodePointers &octreeNodes)
void	generateTextures (const PlanePatches &extractedPlanes, const PointCloud &pointCloud)
void	getAllPointsFromNodes (PointIndices &pointIndices, const NodePointers &octreeNodes, const OcTree &octree, const PointCloud &pointCloud)
	getAllPointsFromNodes Get all (!) points, that contributed to input nodes.
void	getAllPointsFromNodes (PointIndices &pointIndices, const NodeIndices &nodeIndices, const NodePointers &octreeNodes, const OcTree &octree, const PointCloud &pointCloud)
	getAllPointsFromNodes Get all (!) points, that contributed to input nodes.
float	getAngleEpsFromDepth (const unsigned int &depth, const OcTree &octree)
	As AngleEps(ilon) depends on current octree cell size, this method determines this threshold for any given (valid octree-)depth. Global parameters may prune this threshold to a given interval.
float	getHTDistanceFromDepth (const unsigned int &depth, const OcTree &octree)
	As HTDistanceThreshold depends on current octree cell size, this method determines this threshold for any given (valid octree-)depth. Global parameters may prune this threshold to a given interval.
void	getMinMaxRadiusFromDepth (float &minRadius, float &maxRadius, const OcTree &octree, const float &depth)
void	getNodesFromPairs (NodePointers &nodePointers, const PairIndices &pairIndices, const NodePairs &nodePairs)
template<typename PointMappingT >
void	getPointsFromNodes (PointIndices &pointIndices, const NodePointers &octreeNodes, const OcTree &octree, const PointCloud &pointCloud, const PointMappingT &pointMapping)
	getPointsFromNodes Get all (non segmented!) points, that contributed to input nodes.
float	getSACDistanceFromDepth (const unsigned int &depth, const OcTree &octree)
	As SACDistanceThreshold depends on current octree cell size, this method determines this threshold for any given (valid octree-)depth. Global parameters may prune this threshold to a given interval.
void	initNode (ros::NodeHandle &n)
void	initOctree ()
void	initParams ()
template<typename PointMappingT >
void	initSegmentation (PointMappingT &pointMapping, const PointCloud &pointCloud)
void	markNodesAsSegmented (const PlanePatch &pp, const NodePointers &nodes, const OcTree &octree, const PointCloud &pointCloud, const float &maxDistance, const float &ratio)
	markNodesAsSegmented Add unsegmented points in nodes to plane and it's connected component grid.
void	mergePlanes (PlanePatches &extractedPlanes, PlanePatchVector &pointMapping, const PointCloud &pointCloud)
void	parseInput (std::string &paramFilename, std::string &inputFilename, std::string &outputFilename, int argc, char *argv[])
bool	planesAreConnected (const PlanePatch &pp1, const PlanePatch &pp2, const PointCloud &pointCloud)
	planesAreConnected Check if any point in pp1 is a connection to the grid of pp2.
template<typename StructurePtrT , typename Structures >
void	rebuildPointMapping (std::vector< StructurePtrT > &pointMapping, const Structures &structures)
void	refineAssignmentWithCCs (NodeIndexToPlanePatchPointers &nodeToPlaneCandidates, const PatchToNodeIndicesMap &nodeIndicesMap, const PatchToNodePointersMap &nodePointersMap, const NodePointers &octreeNodes, PlanePatches &extractedPlanes)
	For every plane in.
void	refineEdges (PatchToNodePointersMap &finalPlaneNodeAssignmentMap, PatchToPointIndicesMap &finalPlanePointAssignment, const NodeIndexToPlanePatchPointers &nodeToPlaneCandidates, const NodePointers &octreeNodes, const OcTree &octree, const PointCloud &pointCloud)
	Refine edges between every 2 planes by looking at every node and decide which side of an edge it belongs to.
double	segmentCylinders (CylinderPatches &cylinderPatches, CylinderPatchVector &pointMapping, OcTree &octree, const PointCloudPtr &pointCloud)
double	segmentCylindersSAC (CylinderPatches &cylinderPatches, CylinderPatchVector &pointMapping, OcTree &octree, const PointCloudPtr &pointCloud)
double	segmentPlanes (PlanePatches &extractedPlanes, PlanePatchVector &pointMapping, OcTree &octree, const PointCloudPtr &pointCloud)
double	segmentPlanesSAC (PlanePatches &extractedPlanes, PlanePatchVector &pointMapping, const PointCloudPtr &pointCloud)
void	splitIntoConnectedCompononents ()
void	spreadNodes (const OcTree &octree, PlanePatches &extractedPlanes, PlanePatchVector &pointMapping, const PointCloud &pointCloud)
	spreadNodes assign all nodes to previously determined planes. This is part of the post-processing.
void	spreadPoints ()
void	updateCylinderHTBins (SphereUniformSampling &cylinderOrientationBins, const PairIndices &inlierIndices, SphereBinsVec &binNeighborhood)
	Update Hough space, remove inliers from it.
void	updateHTBins (const NodeIndices &inliers, SphereUniformSamplings &houghBins, SphereBinsVec &pointNeighborBins)
template<typename StructurePtrT >
void	updatePointMapping (std::vector< StructurePtrT > &pointMapping, const PointIndices &pointIndices, const StructurePtrT &structurePointer)
template<typename StructurePtrT >
void	updatePointMappingAndInliers (std::vector< StructurePtrT > &pointMapping, PointIndices &pointIndices, const StructurePtrT &structurePointer)
template<typename PointMappingT , typename StructureContainerT >
void	writeSegments (const unsigned int &width, const unsigned int &height, const std::vector< unsigned int > &undefPoints, const PointMappingT &pointMapping, const std::string &outFilename, const StructureContainerT &extractedStructures)
Static Protected Member Functions
static void	flipToViewport (Vec3 &vec, const Vec3 &viewport)
	If vec does not point to the viewport, it is flipped.
static NodePointers	getNodesFromIndices (const NodeIndices &nodeIndices, const NodePointers &nodes)
	Get nodes from node indices. As this is very inefficient, you should only use this method for debugging. TODO remove this.
static Points	getPointsFromIndices (const PointIndices &pointIndices, const PointCloud &cloud)
	Get points from point indices. As this is very inefficient, you should only use this method for debugging. TODO remove this.
static void	markAsSegmented (NodePtr currentNode, NodePtr nextNode=NULL, void *data=NULL)
	mark a node as segmented
Protected Attributes
CylinderPatches	mCylinderPatches
QMutex	mCylinderPatchesMutex
std::string	mKinectTopic
float	mLastCellSizeWithNormals
ros::NodeHandle *	mNodeHandle
OcTreePtr	mOcTree
StrColParams	mParams
PlanePatches	mPlanePatches
QMutex	mPlanePatchesMutex
PointCloudPtr	mPointCloud
ros::Subscriber	mPointCloud2Subscriber
QMutex	mPointCloudMutex
ros::Subscriber	mPointCloudSubscriber
PlanePatchVector	mPointMapping
SphereBinsVec	mPointNeighborBins
RosVisualization *	mVis

Detailed Description

Definition at line 66 of file StructureColoring.h.

Member Typedef Documentation

typedef Cylinder3D::Cylinder3DPtr StructureColoring::Cylinder3DPtr

Definition at line 77 of file StructureColoring.h.

typedef CylinderPatch::CylinderPatches StructureColoring::CylinderPatches

Definition at line 78 of file StructureColoring.h.

typedef CylinderPatch::CylinderPatchPtr StructureColoring::CylinderPatchPtr

Definition at line 79 of file StructureColoring.h.

typedef std::vector<CylinderPatchPtr> StructureColoring::CylinderPatchVector

Definition at line 80 of file StructureColoring.h.

typedef boost::shared_ptr<GridMap> StructureColoring::GridMapPtr [protected]

Definition at line 144 of file StructureColoring.h.

typedef Eigen::Matrix3f StructureColoring::Mat3 [protected]

Definition at line 155 of file StructureColoring.h.

typedef std::vector<PlanePatchVector> StructureColoring::NodeIndexToPlanePatchPointers [protected]

Definition at line 169 of file StructureColoring.h.

typedef std::vector<int> StructureColoring::NodeIndices [protected]

Definition at line 152 of file StructureColoring.h.

typedef std::vector<NodePair> StructureColoring::NodePairs

Definition at line 82 of file StructureColoring.h.

typedef OcTree::NodePointerList StructureColoring::NodePointerList [protected]

Definition at line 151 of file StructureColoring.h.

typedef OcTree::NodePointers StructureColoring::NodePointers [protected]

Definition at line 150 of file StructureColoring.h.

typedef OcTree::NodePtr StructureColoring::NodePtr [protected]

Definition at line 145 of file StructureColoring.h.

typedef std::list<NodePtr> StructureColoring::NodePtrList [protected]

Definition at line 162 of file StructureColoring.h.

typedef std::vector<NodePtrList::iterator> StructureColoring::NodePtrListIters [protected]

Definition at line 163 of file StructureColoring.h.

typedef OcTree::Allocator StructureColoring::OctreeAllocator [protected]

Definition at line 148 of file StructureColoring.h.

typedef OcTree::OctreePtr StructureColoring::OctreePtr [protected]

Definition at line 147 of file StructureColoring.h.

typedef boost::shared_ptr<OcTree> StructureColoring::OcTreePtr [protected]

Definition at line 492 of file StructureColoring.h.

typedef OcTree::SamplingMap StructureColoring::OctreeSamplingMap [protected]

Definition at line 149 of file StructureColoring.h.

typedef std::pair<unsigned int, unsigned int> StructureColoring::Pair2ui [protected]

Definition at line 164 of file StructureColoring.h.

typedef std::vector<int> StructureColoring::PairIndices [protected]

Definition at line 173 of file StructureColoring.h.

typedef std::pair<PlanePatches::iterator, bool> StructureColoring::PatchIterBoolPair [protected]

Definition at line 157 of file StructureColoring.h.

typedef std::vector<PatchIterBoolPair> StructureColoring::PatchIterBoolPairVector [protected]

Definition at line 158 of file StructureColoring.h.

typedef std::pair<PlanePatches::iterator, NodePointers> StructureColoring::PatchIterNodePointersPair [protected]

Definition at line 160 of file StructureColoring.h.

typedef std::vector<PatchIterNodePointersPair> StructureColoring::PatchIterNodePointersPairs [protected]

Definition at line 161 of file StructureColoring.h.

typedef std::map<PlanePatchPtr, NodeIndices, CompPlanePtr> StructureColoring::PatchToNodeIndicesMap [protected]

Definition at line 170 of file StructureColoring.h.

typedef std::map<PlanePatchPtr, NodePointers, CompPlanePtr> StructureColoring::PatchToNodePointersMap [protected]

Definition at line 168 of file StructureColoring.h.

typedef std::map<PlanePatchPtr, PointIndices, CompPlanePtr> StructureColoring::PatchToPointIndicesMap [protected]

Definition at line 171 of file StructureColoring.h.

typedef pcl::PointIndices StructureColoring::pclPointIndices [protected]

Definition at line 165 of file StructureColoring.h.

typedef Plane3D::Plane3DPtr StructureColoring::Plane3DPtr

Definition at line 72 of file StructureColoring.h.

typedef PlanePatch::PlanePatches StructureColoring::PlanePatches

Definition at line 73 of file StructureColoring.h.

typedef std::pair<PlanePatches::iterator, PointIndices > StructureColoring::PlanePatchIterPointIndicesPair [protected]

Definition at line 166 of file StructureColoring.h.

typedef std::vector<PlanePatchIterPointIndicesPair> StructureColoring::PlanePatchIterPointIndicesPairs [protected]

Definition at line 167 of file StructureColoring.h.

typedef PlanePatch::PlanePatchPtr StructureColoring::PlanePatchPtr

Definition at line 74 of file StructureColoring.h.

typedef std::vector<PlanePatchPtr> StructureColoring::PlanePatchVector

Definition at line 75 of file StructureColoring.h.

typedef pcl::PointCloud<PointT> StructureColoring::PointCloud

Definition at line 69 of file StructureColoring.h.

typedef boost::shared_ptr<PointCloud> StructureColoring::PointCloudPtr

Definition at line 70 of file StructureColoring.h.

typedef std::vector<int> StructureColoring::PointIndices [protected]

Definition at line 153 of file StructureColoring.h.

typedef std::vector<Vec3, Eigen::aligned_allocator<Vec3> > StructureColoring::Points [protected]

Definition at line 156 of file StructureColoring.h.

typedef pcl::PointXYZRGB StructureColoring::PointT

Definition at line 68 of file StructureColoring.h.

typedef std::vector<SphereBin> StructureColoring::SphereBins [protected]

Definition at line 182 of file StructureColoring.h.

typedef std::vector<SphereBins> StructureColoring::SphereBinsVec [protected]

Definition at line 183 of file StructureColoring.h.

typedef std::vector<SphereUniformSampling> StructureColoring::SphereUniformSamplings [protected]

Definition at line 172 of file StructureColoring.h.

typedef std::vector<unsigned int> StructureColoring::uints [protected]

Definition at line 159 of file StructureColoring.h.

typedef OcTree::ValueClass StructureColoring::ValueClass [protected]

Definition at line 146 of file StructureColoring.h.

typedef Eigen::Vector3f StructureColoring::Vec3 [protected]

Definition at line 154 of file StructureColoring.h.

Constructor & Destructor Documentation

StructureColoring::StructureColoring	(	ros::NodeHandle &	n,
		int	argc,
		char *	argv[]
	)

StructureColoring Construct a new StrcutureColoring object from a nodeHandle and console parameters.

Parameters:

n	NodeHandle.
argc	Number of arguments.
argv	Arguments from console call.

Definition at line 64 of file StructureColoring.cpp.

StructureColoring::StructureColoring	(	int	argc,
		char *	argv[]
	)		`[inline]`

StructureColoring Construct a new StructureColoring object from console parameters only.

Parameters:

argc	Number of arguments.
argv	Arguments from console call.

Definition at line 95 of file StructureColoring.h.

StructureColoring::StructureColoring ( ) [inline]

StructureColoring Construct a new StructureColoring object without any params.

Definition at line 99 of file StructureColoring.h.

StructureColoring::~StructureColoring ( ) [virtual]

StructureColoring Destructor.

Definition at line 113 of file StructureColoring.cpp.

Member Function Documentation

void StructureColoring::addNodesToPlane	(	PlanePatchPtr &	plane,
		const NodePointers &	nodes,
		const OcTree &	octree,
		const PointCloud &	pointCloud,
		PlanePatchVector &	pointMapping
	)		`[protected]`

addNodesToPlane Add unsegmented points in nodes to plane and it's connected component grid.

Parameters:

plane	Input and output plane. This is where the points are added to.
nodes	Input nodes that are added to the plane in this method.

Definition at line 1343 of file StructureColoring.cpp.

void StructureColoring::addPlanePatchesAndUpdateSegmented	(	PlanePatches &	extractedPlanes,
		PlanePatchVector &	pointMapping,
		const PlanePatches &	planePatches
	)		`[protected]`

Definition at line 2140 of file StructureColoring.cpp.

void StructureColoring::assignNodesToCylinders	(	NodePointers &	octreeNodes,
		CylinderPatches &	extractedCylinders,
		CylinderPatchVector &	pointMapping,
		const OcTree &	octree,
		const PointCloud &	pointCloud
	)		`[protected]`

assignNodePairsToCylinders Check all nodePairs from input if they are candidates for previously found cylinders

Parameters:

nodePairs	input pairs of nodes, will be updated
extractedCylinders	previously found cylinders, will be updated

Definition at line 1647 of file StructureColoring.cpp.

void StructureColoring::assignNodesToPlanes	(	NodePointers &	notAssignedOctreeNodes,
		const unsigned int &	octreeDepth,
		const OcTree &	octree,
		PlanePatches &	extractedPlanes,
		const PointCloud &	pointCloud,
		PlanePatchVector &	pointMapping
	)		`[protected]`

assignNodesToPlanes Check all nodes in octreeDepth against all planes in mFilteredPlanePatches with respect to node's mean position and it's normal. Generate vector of unassigned nodes.

Parameters:

notAssignedOctreeNodes	Output unassigned nodes.
octreeDepth	Input octreeDepth to take nodes from. This method tries to assign all nodes to the planes that were already found. If a node can be assign (through normal orientation and mean position) all it's points are added to the plane.

Definition at line 1396 of file StructureColoring.cpp.

void StructureColoring::calculateMiddlePlane	(	Plane3D &	outParams,
		const PlanePatch &	firstPPP,
		const PlanePatch &	secondPPP
	)		`[protected]`

Calculate a plane, that parts two planes in the middle through its intersection line.

Parameters:

outParams	Params of middle plane will be put here.
firstPPP	PlanePatchPtr to first plane (best hit).
secondPPP	PlanePatchPtr to second plane (second best hit).

Definition at line 1865 of file StructureColoring.cpp.

void StructureColoring::callPublisher	(	const OcTree &	octree,
		PlanePatches &	extractedPlanes,
		const CylinderPatches &	extractedCylinders,
		const PointCloudPtr	pointCloud,
		const PlanePatchVector &	pointMapping,
		const CylinderPatchVector &	cylinderPointMapping
	)		`[protected]`

Definition at line 513 of file StructureColoring.cpp.

bool StructureColoring::checkCylinder	(	const CylinderPatchPtr &	cylinder,
		const PointCloudPtr &	pointCloud
	)		const `[protected]`

Definition at line 2443 of file StructureColoring.cpp.

bool StructureColoring::checkCylinderDimensions ( const CylinderPatchPtr & cylinder ) const [protected]

Definition at line 2438 of file StructureColoring.cpp.

void StructureColoring::determineCandidatePlanes	(	PatchToNodeIndicesMap &	outIndicesMap,
		PatchToNodePointersMap &	outPointersMap,
		const NodePointers &	octreeNodes,
		PlanePatches &	extractedPlanes
	)		`[protected]`

For every node in.

Parameters:

octreeNodes,every	plane is being checked if the node is in the planes distanceThreshold
outIndicesMap	Maps PlanePatchPtr to all nodes(indices), that could possibly belong to its plane.
outPointersMap	Maps PlanePatchPtr to all nodes(pointers), that could possibly belong to its plane.
octreeNodes	Input octree nodes to check against every plane in mFilteredPlanePatches.

Definition at line 1823 of file StructureColoring.cpp.

void StructureColoring::determineCandidatePlanes	(	NodeIndexToPlanePatchPointers &	nodeToPlaneCandidates,
		const NodePointers &	octreeNodes,
		PlanePatches &	extractedPlanes
	)		`[protected]`

Definition at line 1800 of file StructureColoring.cpp.

void StructureColoring::doSegmentation	(	PointCloudPtr	pointCloud,
		PlanePatchVector &	pointMapping,
		PlanePatches &	extractedPlanes,
		CylinderPatchVector &	pointMappingCylinders,
		CylinderPatches &	extractedCylinders
	)

Definition at line 278 of file StructureColoring.cpp.

void StructureColoring::estimateCylinder	(	pclPointIndices &	inliers,
		CylinderPatchPtr &	cylinder,
		unsigned int &	numPointsBefRansac,
		const NodePointers &	octreeNodes,
		const OcTree &	octree,
		const PointCloudPtr &	pointCloud,
		const float &	sacDist,
		const float &	normalDistanceWeight,
		const float &	minRadius,
		const float &	maxRadius
	)		`[protected]`

Definition at line 671 of file StructureColoring.cpp.

void StructureColoring::estimateCylinderFromNodes	(	NodeIndices &	inliers,
		CylinderPatchPtr &	cylinder,
		const NodePointers &	octreeNodes,
		const OcTree &	octree,
		const PointCloudPtr &	pointCloud,
		const float &	sacDist,
		const float &	normalDistanceWeight,
		const float &	minRadius,
		const float &	maxRadius
	)		`[protected]`

Definition at line 904 of file StructureColoring.cpp.

void StructureColoring::estimateCylinderHT	(	const SphereUniformSampling &	cylinderOrientationBins,
		const NodePairs &	nodePairs,
		PairIndices &	inlierIndices,
		CylinderPatchPtr &	cylinder,
		const unsigned int &	depth,
		const OcTree &	octree,
		const CylinderPatchVector &	pointMapping,
		const PointCloud &	pointCloud,
		const float &	minRadius,
		const float &	maxRadius
	)		`[protected]`

Estimate cylinder params, starting from cylinder orientation Hough space.

Parameters:

cylinderOrientationBins	Input Hough space of cylinder oreintations.
nodePairs	Input pairs of nodes where Hough space indices point to.
inlierIndices	Output inlier pairs.
cylinder	Output cylinder patch with inlier estimation (from HT) and cylinder parameters.
depth	Input octree depth of nodes and node pairs etc.
octree	Input octree where nodes come from.

Definition at line 1144 of file StructureColoring.cpp.

void StructureColoring::estimateCylinderNNNormals	(	CylinderPatchPtr &	cylinder,
		const PointCloudPtr &	pointCloud,
		const float &	sacDist,
		const float &	normalDistanceWeight,
		const float &	minRadius,
		const float &	maxRadius,
		float	searchRadius,
		const Vec3 &	initialAxis
	)		`[protected]`

Definition at line 731 of file StructureColoring.cpp.

void StructureColoring::estimatePlane	(	const pclPointIndices::Ptr &	inliers,
		PlanePatchPtr &	planePatch,
		const PointCloudPtr &	pointCloud,
		const float &	sacDist
	)		`[protected]`

Definition at line 639 of file StructureColoring.cpp.

void StructureColoring::estimatePlaneSingleSphereOctreeHT	(	pclPointIndices &	inliers,
		Plane3DPtr &	planePatch,
		const SphereUniformSamplings &	houghBins,
		const SphereBinsVec &	pointNeighborBins,
		const NodePointers &	octreeNodes,
		NodeIndices &	inlierNodes,
		const PointCloud &	pointCloud,
		const OcTree &	octree,
		const unsigned int &	depth,
		const PlanePatchVector &	pointMapping
	)		`[protected]`

Definition at line 989 of file StructureColoring.cpp.

void StructureColoring::extractOctreeCylindersFromCloud	(	CylinderPatches &	extractedCylinders,
		CylinderPatchVector &	pointMapping,
		const OcTree &	octree,
		const PointCloudPtr &	pointCloud
	)		`[protected]`

extractOctreePlanesFromCloud Main segmentation is done here. Most other methods are called from here.

Parameters:

extractedCylinders	output planes, extracted from octree / pointcloud
pointMapping	mapping of points to extracted cylinders
octree	input octree, filled with points from pointcloud and with normals already calculated
pointCloud	input point cloud for segmentation

Definition at line 1679 of file StructureColoring.cpp.

void StructureColoring::extractOctreePlanesFromCloud	(	PlanePatches &	extractedPlanes,
		PlanePatchVector &	pointMapping,
		const OcTree &	octree,
		const PointCloudPtr &	pointCloud
	)		`[protected]`

extractOctreePlanesFromCloud Main segmentation is done here. Most other methods are called from here.

Parameters:

extractedPlanes	output planes, extracted from octree / pointcloud
pointMapping	mapping of points to extracted planes
octree	input octree, filled with points from pointcloud and with normals already calculated
pointCloud	input point cloud for segmentation

Definition at line 1472 of file StructureColoring.cpp.

void StructureColoring::filterCloud	(	PointCloud &	pointCloud,
		std::vector< unsigned int > &	undefPoints,
		const float &	zMin,
		const float &	zMax
	)

Definition at line 387 of file StructureColoring.cpp.

void StructureColoring::filterConnectedNodes	(	std::vector< NodePointers > &	CCInlierNodes,
		const Plane3D &	pp,
		const NodePointers &	octreeNodes,
		float	cellSize,
		GridMap *	oldGridMap = `NULL`,
		NodePointers *	notConnectedNodesOutput = `NULL`
	)		`[protected]`

Definition at line 603 of file StructureColoring.cpp.

void StructureColoring::filterMsgSetupCloud	(	PointCloud &	pointCloud,
		const sensor_msgs::PointCloud2ConstPtr &	pMsg,
		double	zMin,
		double	zMax,
		bool	fromKinect,
		bool	writePic = `false`,
		const std::string &	picFilename = `""`,
		unsigned int	picCounter = `0`
	)

Definition at line 568 of file StructureColoring.cpp.

void StructureColoring::flipToViewport	(	Vec3 &	vec,
		const Vec3 &	viewport
	)		`[static, protected]`

If vec does not point to the viewport, it is flipped.

Parameters:

vec	Input and output vector to be flipped.
viewport	Input viewport position.

Definition at line 2187 of file StructureColoring.cpp.

void StructureColoring::generateCylinderOrientationHB	(	SphereUniformSampling &	cylinderOrientationBins,
		SphereBinsVec &	binNeighborhood,
		const NodePairs &	nodePairs
	)		`[protected]`

Generate Hough space for cylinder orientation.

Parameters:

cylinderOrientationBins	Output Hough bins.
binNeighborhood	Output mapping from nodePairs to corresponding Hough bins (for Hough bin update).
nodePairs	Input pairs of neighboring nodes.

Definition at line 1107 of file StructureColoring.cpp.

void StructureColoring::generateNeighboringNodePairs	(	NodePairs &	nodePairs,
		NodePointers &	octreeNodes,
		const unsigned int	neighborhoodSize,
		const unsigned int &	currentOctreeDepth,
		const OcTree &	octree
	)		`[protected]`

Get all pairs of nodes that are close to each other.

Parameters:

nodePairs	Output parameter that holds close pairs of nodes.
neighborhoodSize	Input parameter that determines max neighborhoods distance from node in node sizes.
octreeNodes	Input parameter but nodes will be marked to avoid double entries.
currentOctreeDepth	Octree depth where octreeNodes come from.
octree	Octree to search pairs in.

Definition at line 1083 of file StructureColoring.cpp.

void StructureColoring::generateSingleSphereOctreeHTBins	(	SphereUniformSamplings &	houghBins,
		SphereBinsVec &	pointNeighborBins,
		const NodePointers &	octreeNodes
	)		`[protected]`

Definition at line 955 of file StructureColoring.cpp.

void StructureColoring::generateTextures	(	const PlanePatches &	extractedPlanes,
		const PointCloud &	pointCloud
	)		`[protected]`

Definition at line 505 of file StructureColoring.cpp.

void StructureColoring::getAllPointsFromNodes	(	PointIndices &	pointIndices,
		const NodePointers &	octreeNodes,
		const OcTree &	octree,
		const PointCloud &	pointCloud
	)		`[protected]`

getAllPointsFromNodes Get all (!) points, that contributed to input nodes.

Parameters:

pointIndices	point's indices in mPointCloud.
octreeNodes	Input octree nodes. Method starts leaf search here and generates output from those leafs. No mSegmented check is done here. If you need only unsegmented points, use getPointsFromNodes!

Definition at line 1307 of file StructureColoring.cpp.

void StructureColoring::getAllPointsFromNodes	(	PointIndices &	pointIndices,
		const NodeIndices &	nodeIndices,
		const NodePointers &	octreeNodes,
		const OcTree &	octree,
		const PointCloud &	pointCloud
	)		`[protected]`

getAllPointsFromNodes Get all (!) points, that contributed to input nodes.

Parameters:

pointIndices	point's indices in mPointCloud.
nodeIndices	Input indices to octree nodes. Only this nodes will be used.
octreeNodes	Input octree nodes. Method starts leaf search here and generates output from those leafs. No mSegmented check is done here. If you need only unsegmented points, use getPointsFromNodes!

Definition at line 1325 of file StructureColoring.cpp.

float StructureColoring::getAngleEpsFromDepth	(	const unsigned int &	depth,
		const OcTree &	octree
	)		`[protected]`

As AngleEps(ilon) depends on current octree cell size, this method determines this threshold for any given (valid octree-)depth. Global parameters may prune this threshold to a given interval.

Parameters:

depth	Valid octree depth, greater or equal to zero and less or equal to octrees max-depth.
octree	Input octree.

Returns:: AngleEps(ilon) for given depth and octree.

Definition at line 2179 of file StructureColoring.cpp.

float StructureColoring::getHTDistanceFromDepth	(	const unsigned int &	depth,
		const OcTree &	octree
	)		`[protected]`

As HTDistanceThreshold depends on current octree cell size, this method determines this threshold for any given (valid octree-)depth. Global parameters may prune this threshold to a given interval.

Parameters:

depth	Valid octree depth, greater or equal to zero and less or equal to octrees max-depth.
octree	Input octree.

Returns:: THDistanceThreshold for given depth and octree.

Definition at line 2164 of file StructureColoring.cpp.

void StructureColoring::getMinMaxRadiusFromDepth	(	float &	minRadius,
		float &	maxRadius,
		const OcTree &	octree,
		const float &	depth
	)		`[protected]`

Definition at line 2172 of file StructureColoring.cpp.

StructureColoring::NodePointers StructureColoring::getNodesFromIndices	(	const NodeIndices &	nodeIndices,
		const NodePointers &	nodes
	)		`[inline, static, protected]`

Get nodes from node indices. As this is very inefficient, you should only use this method for debugging. TODO remove this.

Parameters:

nodeIndices	indices to nodes
nodes	input nodes

Returns:: copy of indexed NodePointers

Definition at line 505 of file StructureColoring.h.

void StructureColoring::getNodesFromPairs	(	NodePointers &	nodePointers,
		const PairIndices &	pairIndices,
		const NodePairs &	nodePairs
	)		`[protected]`

Definition at line 1790 of file StructureColoring.cpp.

void StructureColoring::getPointsFromFile ( )

getPointsFromFile Start segmentation. Parameters were given through object construction.

Definition at line 403 of file StructureColoring.cpp.

StructureColoring::Points StructureColoring::getPointsFromIndices	(	const PointIndices &	pointIndices,
		const PointCloud &	cloud
	)		`[inline, static, protected]`

Get points from point indices. As this is very inefficient, you should only use this method for debugging. TODO remove this.

Parameters:

pointIndices	indices to points in cloud
cloud	input pointcloud

Returns:: copy of indexed Points in cloud

Definition at line 514 of file StructureColoring.h.

template<typename PointMappingT >

void StructureColoring::getPointsFromNodes	(	PointIndices &	pointIndices,
		const NodePointers &	octreeNodes,
		const OcTree &	octree,
		const PointCloud &	pointCloud,
		const PointMappingT &	pointMapping
	)		`[protected]`

getPointsFromNodes Get all (non segmented!) points, that contributed to input nodes.

Parameters:

pointIndices	point's indices in mPointCloud.
octreeNodes	Input octree nodes. Method starts leaf search here and generates output from those leafs. Points that are returned here, do not belong to any segment at this moment. If you also need segmented points, use getAllPointsFromNodes!

Definition at line 532 of file StructureColoring.h.

float StructureColoring::getSACDistanceFromDepth	(	const unsigned int &	depth,
		const OcTree &	octree
	)		`[protected]`

As SACDistanceThreshold depends on current octree cell size, this method determines this threshold for any given (valid octree-)depth. Global parameters may prune this threshold to a given interval.

Parameters:

depth	Valid octree depth, greater or equal to zero and less or equal to octrees max-depth.
octree	Input octree.

Returns:: SACDistanceThreshold for given depth and octree.

Definition at line 2155 of file StructureColoring.cpp.

void StructureColoring::init	(	ros::NodeHandle &	n,
		int	argc,
		char *	argv[]
	)

Definition at line 71 of file StructureColoring.cpp.

void StructureColoring::init	(	int	argc,
		char *	argv[]
	)

Definition at line 85 of file StructureColoring.cpp.

void StructureColoring::init ( )

Definition at line 105 of file StructureColoring.cpp.

void StructureColoring::initNode ( ros::NodeHandle & n ) [protected]

Definition at line 229 of file StructureColoring.cpp.

void StructureColoring::initOctree ( ) [protected]

Definition at line 252 of file StructureColoring.cpp.

void StructureColoring::initParams ( ) [protected]

Definition at line 244 of file StructureColoring.cpp.

template<typename PointMappingT >

void StructureColoring::initSegmentation	(	PointMappingT &	pointMapping,
		const PointCloud &	pointCloud
	)		`[protected]`

Definition at line 552 of file StructureColoring.h.

void StructureColoring::markAsSegmented	(	NodePtr	currentNode,
		NodePtr	nextNode = `NULL`,
		void *	data = `NULL`
	)		`[inline, static, protected]`

mark a node as segmented

Parameters:

currentNode	mark this node
nextNode	doing nothing (for compatibility only)
data	doing nothing (for compatibility only)

Definition at line 523 of file StructureColoring.h.

void StructureColoring::markNodesAsSegmented	(	const PlanePatch &	pp,
		const NodePointers &	nodes,
		const OcTree &	octree,
		const PointCloud &	pointCloud,
		const float &	maxDistance,
		const float &	ratio
	)		`[protected]`

markNodesAsSegmented Add unsegmented points in nodes to plane and it's connected component grid.

Parameters:

pointIndices	Input pointIndices. This points are inliers marked as segmented.
nodes	Input nodes pointers. This nodes are being marked, if almost all points in it are segmented.
ratio	Input ratio determines, how many points must be marked as segmented to mark the nodes.

Definition at line 1378 of file StructureColoring.cpp.

void StructureColoring::mergePlanes	(	PlanePatches &	extractedPlanes,
		PlanePatchVector &	pointMapping,
		const PointCloud &	pointCloud
	)		`[protected]`

Iterate over all planes in extractedPlanes and merge planes that are similarly oriented and each others center of gravity is on the other plane. Connection via connected component is handled via "planesAreConnected"-check. As std::merge is used in this method, Plane indices MUST be sorted! --> sort is being called on local copies .. //TODO Check if it hurts.

Definition at line 2068 of file StructureColoring.cpp.

void StructureColoring::parseInput	(	std::string &	paramFilename,
		std::string &	inputFilename,
		std::string &	outputFilename,
		int	argc,
		char *	argv[]
	)		`[protected]`

Definition at line 120 of file StructureColoring.cpp.

bool StructureColoring::planesAreConnected	(	const PlanePatch &	pp1,
		const PlanePatch &	pp2,
		const PointCloud &	pointCloud
	)		`[protected]`

planesAreConnected Check if any point in pp1 is a connection to the grid of pp2.

Parameters:

pp1	First input planePatchPtr.
pp2	Second input planePatchPtr.
pointCloud	Input PointCloud that inlierIndices refer to.

Definition at line 2128 of file StructureColoring.cpp.

void StructureColoring::pointCloud2Callback ( const sensor_msgs::PointCloud2ConstPtr & msg )

pointCloud2Callback This method should be called via subscription to a PointCloud2 topic.

Parameters:

msg	Message pointer.

Definition at line 263 of file StructureColoring.cpp.

void StructureColoring::pointCloudCallback ( const sensor_msgs::PointCloudConstPtr & msg )

pointCloudCallback This method should be called via subscription to a PointCloud topic.

Parameters:

msg	Message pointer.

Definition at line 323 of file StructureColoring.cpp.

void StructureColoring::readPointCloudFromPCD	(	PointCloud &	pointCloud,
		const std::string &	filename,
		unsigned int &	width,
		unsigned int &	height,
		std::vector< unsigned int > &	undefPoints,
		const float &	zMin,
		const float &	zMax
	)

Definition at line 347 of file StructureColoring.cpp.

template<typename StructurePtrT , typename Structures >

void StructureColoring::rebuildPointMapping	(	std::vector< StructurePtrT > &	pointMapping,
		const Structures &	structures
	)		`[protected]`

Definition at line 625 of file StructureColoring.h.

void StructureColoring::refineAssignmentWithCCs	(	NodeIndexToPlanePatchPointers &	nodeToPlaneCandidates,
		const PatchToNodeIndicesMap &	nodeIndicesMap,
		const PatchToNodePointersMap &	nodePointersMap,
		const NodePointers &	octreeNodes,
		PlanePatches &	extractedPlanes
	)		`[protected]`

For every plane in.

Parameters:

nodePointersMap	each node is put in it's grid and the main connected component is extracted to output.
nodeToPlaneCandidates	For each node, each possible plane is stored here.
nodeIndicesMap	Input Map that maps PlanePatchPtr to candidate nodes, without knowing anything about connected components yet.
nodePointersMap	Input Map that maps PlanePatchPtr to candidate nodes, without knowing anything about connected components yet.
octreeNodes	Input octree nodes to map indices to nodePointers.

Definition at line 1845 of file StructureColoring.cpp.

void StructureColoring::refineEdges	(	PatchToNodePointersMap &	finalPlaneNodeAssignmentMap,
		PatchToPointIndicesMap &	finalPlanePointAssignment,
		const NodeIndexToPlanePatchPointers &	nodeToPlaneCandidates,
		const NodePointers &	octreeNodes,
		const OcTree &	octree,
		const PointCloud &	pointCloud
	)		`[protected]`

Refine edges between every 2 planes by looking at every node and decide which side of an edge it belongs to.

Parameters:

finalPlaneNodeAssignmentMap	Final plane to node assignment is put here.
nodeToPlaneCandidates	For each node here must be stored which planes it could possibly belong (after connection check).
octreeNodes	Input octree nodes to map indices to nodePointers.

Definition at line 1891 of file StructureColoring.cpp.

double StructureColoring::segmentCylinders	(	CylinderPatches &	cylinderPatches,
		CylinderPatchVector &	pointMapping,
		OcTree &	octree,
		const PointCloudPtr &	pointCloud
	)		`[protected]`

Definition at line 477 of file StructureColoring.cpp.

double StructureColoring::segmentCylindersSAC	(	CylinderPatches &	cylinderPatches,
		CylinderPatchVector &	pointMapping,
		OcTree &	octree,
		const PointCloudPtr &	pointCloud
	)		`[protected]`

Definition at line 2351 of file StructureColoring.cpp.

double StructureColoring::segmentPlanes	(	PlanePatches &	extractedPlanes,
		PlanePatchVector &	pointMapping,
		OcTree &	octree,
		const PointCloudPtr &	pointCloud
	)		`[protected]`

Definition at line 452 of file StructureColoring.cpp.

double StructureColoring::segmentPlanesSAC	(	PlanePatches &	extractedPlanes,
		PlanePatchVector &	pointMapping,
		const PointCloudPtr &	pointCloud
	)		`[protected]`

Definition at line 2195 of file StructureColoring.cpp.

void StructureColoring::setParams ( StrColParams params ) [inline]

Definition at line 142 of file StructureColoring.h.

void StructureColoring::splitIntoConnectedCompononents ( ) [protected]

void StructureColoring::spreadNodes	(	const OcTree &	octree,
		PlanePatches &	extractedPlanes,
		PlanePatchVector &	pointMapping,
		const PointCloud &	pointCloud
	)		`[protected]`

spreadNodes assign all nodes to previously determined planes. This is part of the post-processing.

Parameters:

depth Should be called with mOctreeDepth. This method does not check normal orientations but only the node's center-of-gravity against any planes for minimal distance. This method touches every node and changes any mapping, that was made before.

Definition at line 2009 of file StructureColoring.cpp.

void StructureColoring::spreadPoints ( ) [protected]

void StructureColoring::updateCylinderHTBins	(	SphereUniformSampling &	cylinderOrientationBins,
		const PairIndices &	inlierIndices,
		SphereBinsVec &	binNeighborhood
	)		`[protected]`

Update Hough space, remove inliers from it.

Parameters:

cylinderOrientationBins	Output Hough space where inlier are removed from.
inlierIndices	Input indices of inlier to be removed.
binNeighborhood	Input/Output Neighborhood of indices is stored here, and will be erased (for indices that are removed).

Definition at line 1294 of file StructureColoring.cpp.

void StructureColoring::updateHTBins	(	const NodeIndices &	inliers,
		SphereUniformSamplings &	houghBins,
		SphereBinsVec &	pointNeighborBins
	)		`[protected]`

inliers - is a vector of (int) indices of a subset of nodes on current depth

Definition at line 1070 of file StructureColoring.cpp.

template<typename StructurePtrT >

void StructureColoring::updatePointMapping	(	std::vector< StructurePtrT > &	pointMapping,
		const PointIndices &	pointIndices,
		const StructurePtrT &	structurePointer
	)		`[protected]`

Definition at line 612 of file StructureColoring.h.

template<typename StructurePtrT >

void StructureColoring::updatePointMappingAndInliers	(	std::vector< StructurePtrT > &	pointMapping,
		PointIndices &	pointIndices,
		const StructurePtrT &	structurePointer
	)		`[protected]`

Definition at line 595 of file StructureColoring.h.

bool StructureColoring::waitOnKinectMsgs ( ) [inline]

waitOnKinectMsgs Check if object waits for kinect messages.

Definition at line 113 of file StructureColoring.h.

bool StructureColoring::waitOnLaserMsgs ( ) [inline]

waitOnLaserMsgs Check if object waits for laser messages.

Definition at line 117 of file StructureColoring.h.

template<typename PointMappingT , typename StructureContainerT >

void StructureColoring::writeSegments	(	const unsigned int &	width,
		const unsigned int &	height,
		const std::vector< unsigned int > &	undefPoints,
		const PointMappingT &	pointMapping,
		const std::string &	outFilename,
		const StructureContainerT &	extractedStructures
	)		`[protected]`