#include <point_cloud_segmentation.h>

Public Member Functions
bool	cloudsIntersect (XYZPointCloud cloud0, XYZPointCloud cloud1)
bool	cloudsIntersect (XYZPointCloud cloud0, XYZPointCloud cloud1, double thresh)
void	clusterProtoObjects (XYZPointCloud &objects_cloud, ProtoObjects &objs)
cv::Mat	displayObjectImage (cv::Mat &obj_img, std::string win_name="projected objects", bool use_display=true)
void	downsampleCloud (XYZPointCloud &cloud_in, XYZPointCloud &cloud_down)
void	findTabletopObjects (XYZPointCloud &input_cloud, ProtoObjects &objs, bool use_mps=false)
void	findTabletopObjects (XYZPointCloud &input_cloud, ProtoObjects &objs, XYZPointCloud &objs_cloud, bool use_mps=false)
void	findTabletopObjects (XYZPointCloud &input_cloud, ProtoObjects &objs, XYZPointCloud &objs_cloud, XYZPointCloud &plane_cloud, bool use_mps=false)
void	fitCylinderRANSAC (ProtoObject &obj, XYZPointCloud &cylinder_cloud, pcl16::ModelCoefficients &cylinder)
void	fitSphereRANSAC (ProtoObject &obj, XYZPointCloud &sphere_cloud, pcl16::ModelCoefficients &sphere)
void	getMovedRegions (XYZPointCloud &prev_cloud, XYZPointCloud &cur_cloud, ProtoObjects &moved_regions, std::string suf="")
Eigen::Vector4f	getTableCentroid () const
void	getTablePlane (XYZPointCloud &cloud, XYZPointCloud &objs_cloud, XYZPointCloud &plane_cloud, Eigen::Vector4f &center, bool find_hull=false, bool find_centroid=false)
void	getTablePlaneMPS (XYZPointCloud &cloud, XYZPointCloud &objs_cloud, XYZPointCloud &plane_cloud, Eigen::Vector4f &center, bool find_hull=false, bool find_centroid=false)
double	ICPBoundarySamples (XYZPointCloud &hull_t_0, XYZPointCloud &hull_t_1, Eigen::Matrix4f &transform, XYZPointCloud &aligned)
double	ICPProtoObjects (ProtoObject &a, ProtoObject &b, Eigen::Matrix4f &transform)
void	lineCloudIntersection (XYZPointCloud &cloud, Eigen::Vector3f vec, Eigen::Vector4f base, XYZPointCloud &line_cloud)
void	lineCloudIntersectionEndPoints (XYZPointCloud &cloud, Eigen::Vector3f vec, Eigen::Vector4f base, std::vector< pcl16::PointXYZ > &end_points)
void	matchMovedRegions (ProtoObjects &objs, ProtoObjects &moved_regions)
	PointCloudSegmentation (boost::shared_ptr< tf::TransformListener > tf)
bool	pointIntersectsCloud (XYZPointCloud cloud, geometry_msgs::Point pt, double thresh)
float	pointLineXYDist (pcl16::PointXYZ p, Eigen::Vector3f vec, Eigen::Vector4f base)
void	projectPointCloudIntoImage (XYZPointCloud &cloud, cv::Mat &lbl_img, std::string target_frame, unsigned int id=1)
void	projectPointCloudIntoImage (XYZPointCloud &cloud, cv::Mat &lbl_img)
cv::Point	projectPointIntoImage (pcl16::PointXYZ cur_point_pcl, std::string point_frame, std::string target_frame)
cv::Point	projectPointIntoImage (geometry_msgs::PointStamped cur_point)
cv::Point	projectPointIntoImage (geometry_msgs::PointStamped cur_point, std::string target_frame)
cv::Point	projectPointIntoImage (Eigen::Vector3f cur_point_eig, std::string point_frame, std::string target_frame)
cv::Mat	projectProtoObjectIntoImage (ProtoObject &obj, cv::Size img_size, std::string target_frame)
cv::Mat	projectProtoObjectsIntoImage (ProtoObjects &objs, cv::Size img_size, std::string target_frame)
Static Public Member Functions
static double	dist (pcl16::PointXYZ a, pcl16::PointXYZ b)
static double	dist (geometry_msgs::Point b, pcl16::PointXYZ a)
static double	dist (pcl16::PointXYZ a, geometry_msgs::Point b)
static double	sqrDist (Eigen::Vector3f &a, pcl16::PointXYZ &b)
static double	sqrDist (Eigen::Vector4f &a, Eigen::Vector4f &b)
static double	sqrDist (pcl16::PointXYZ a, pcl16::PointXYZ b)
static double	sqrDistXY (pcl16::PointXYZ a, pcl16::PointXYZ b)
Public Attributes
sensor_msgs::CameraInfo	cam_info_
double	cloud_diff_thresh_
double	cloud_intersect_thresh_
double	cluster_tolerance_
std::vector< cv::Vec3f >	colors_
std_msgs::Header	cur_camera_header_
double	cylinder_ransac_angle_thresh_
double	cylinder_ransac_thresh_
double	hull_alpha_
double	icp_max_cor_dist_
int	icp_max_iters_
double	icp_ransac_thresh_
double	icp_transform_eps_
int	max_cluster_size_
double	max_table_z_
double	max_workspace_x_
double	max_workspace_z_
int	min_cluster_size_
double	min_table_z_
double	min_workspace_x_
double	min_workspace_z_
int	moved_count_thresh_
double	mps_min_angle_thresh_
double	mps_min_dist_thresh_
int	mps_min_inliers_
int	num_downsamples_
bool	optimize_cylinder_coefficients_
double	sphere_ransac_thresh_
double	table_ransac_angle_thresh_
double	table_ransac_thresh_
bool	use_voxel_down_
double	voxel_down_res_
Protected Attributes
Eigen::Vector4f	table_centroid_
boost::shared_ptr < tf::TransformListener >	tf_

Detailed Description

Definition at line 85 of file point_cloud_segmentation.h.

Constructor & Destructor Documentation

tabletop_pushing::PointCloudSegmentation::PointCloudSegmentation ( boost::shared_ptr< tf::TransformListener > tf )

Definition at line 85 of file point_cloud_segmentation.cpp.

Member Function Documentation

bool tabletop_pushing::PointCloudSegmentation::cloudsIntersect	(	XYZPointCloud	cloud0,
		XYZPointCloud	cloud1
	)

Naively determine if two point clouds intersect based on distance threshold between points.

Parameters:

cloud0	First cloud for interesection test
cloud1	Second cloud for interesection test

Returns:: true if any points from cloud0 and cloud1 have distance less than voxel_down_res_

Definition at line 625 of file point_cloud_segmentation.cpp.

bool tabletop_pushing::PointCloudSegmentation::cloudsIntersect	(	XYZPointCloud	cloud0,
		XYZPointCloud	cloud1,
		double	thresh
	)

Definition at line 647 of file point_cloud_segmentation.cpp.

void tabletop_pushing::PointCloudSegmentation::clusterProtoObjects	(	XYZPointCloud &	objects_cloud,
		ProtoObjects &	objs
	)

Function to segment point cloud regions using euclidean clustering

Parameters:

objects_cloud	The cloud of objects to cluster
objs	[Returned] The independent clusters

Definition at line 393 of file point_cloud_segmentation.cpp.

cv::Mat tabletop_pushing::PointCloudSegmentation::displayObjectImage	(	cv::Mat &	obj_img,
		std::string	win_name = `"projected objects"`,
		bool	use_display = `true`
	)

Visualization function of proto objects projected into an image

Parameters:

obj_img	The projected objects image
objs	The set of proto objects

Definition at line 871 of file point_cloud_segmentation.cpp.

static double tabletop_pushing::PointCloudSegmentation::dist	(	pcl16::PointXYZ	a,
		pcl16::PointXYZ	b
	)		`[inline, static]`

Definition at line 193 of file point_cloud_segmentation.h.

static double tabletop_pushing::PointCloudSegmentation::dist	(	geometry_msgs::Point	b,
		pcl16::PointXYZ	a
	)		`[inline, static]`

Definition at line 201 of file point_cloud_segmentation.h.

static double tabletop_pushing::PointCloudSegmentation::dist	(	pcl16::PointXYZ	a,
		geometry_msgs::Point	b
	)		`[inline, static]`

Definition at line 206 of file point_cloud_segmentation.h.

void tabletop_pushing::PointCloudSegmentation::downsampleCloud	(	XYZPointCloud &	cloud_in,
		XYZPointCloud &	cloud_down
	)

Filter a point cloud to only be above the estimated table and within the workspace in x, then downsample the voxels.

Parameters:

cloud_in The cloud to filter and downsample

Returns:: The downsampled cloud

Definition at line 798 of file point_cloud_segmentation.cpp.

void tabletop_pushing::PointCloudSegmentation::findTabletopObjects	(	XYZPointCloud &	input_cloud,
		ProtoObjects &	objs,
		bool	use_mps = `false`
	)