Public Types
typedef pcl::PointCloud < PointType >	Cloud
typedef Cloud::ConstPtr	CloudConstPtr
typedef Cloud::Ptr	CloudPtr
typedef ParticleFilter::CoherencePtr	CoherencePtr
typedef pcl::search::KdTree < PointType >	KdTree
typedef KdTree::Ptr	KdTreePtr
typedef ParticleFilterTracker < RefPointType, ParticleT >	ParticleFilter
typedef ParticleXYZRPY	ParticleT
typedef pcl::PointCloud < RefPointType >	RefCloud
typedef RefCloud::ConstPtr	RefCloudConstPtr
typedef RefCloud::Ptr	RefCloudPtr
typedef pcl::PointXYZRGBA	RefPointType
Public Member Functions
void	addNormalToCloud (const CloudConstPtr &cloud, const pcl::PointCloud< pcl::Normal >::ConstPtr &normals, RefCloud &result)
void	cloud_cb (const CloudConstPtr &cloud)
void	convexHull (const CloudConstPtr &cloud, Cloud &, std::vector< pcl::Vertices > &hull_vertices)
bool	drawParticles (pcl::visualization::PCLVisualizer &viz)
void	drawResult (pcl::visualization::PCLVisualizer &viz)
void	euclideanSegment (const CloudConstPtr &cloud, std::vector< pcl::PointIndices > &cluster_indices)
void	extractNonPlanePoints (const CloudConstPtr &cloud, const CloudConstPtr &cloud_hull, Cloud &result)
void	extractSegmentCluster (const CloudConstPtr &cloud, const std::vector< pcl::PointIndices > cluster_indices, const int segment_index, Cloud &result)
void	filterPassThrough (const CloudConstPtr &cloud, Cloud &result)
void	gridSample (const CloudConstPtr &cloud, Cloud &result, double leaf_size=0.01)
void	gridSampleApprox (const CloudConstPtr &cloud, Cloud &result, double leaf_size=0.01)
void	normalEstimation (const CloudConstPtr &cloud, pcl::PointCloud< pcl::Normal > &result)
	OpenNISegmentTracking (const std::string &device_id, int thread_nr, double downsampling_grid_size, bool use_convex_hull, bool visualize_non_downsample, bool visualize_particles, bool use_fixed)
void	planeProjection (const CloudConstPtr &cloud, Cloud &result, const pcl::ModelCoefficients::ConstPtr &coefficients)
void	planeSegmentation (const CloudConstPtr &cloud, pcl::ModelCoefficients &coefficients, pcl::PointIndices &inliers)
void	removeZeroPoints (const CloudConstPtr &cloud, Cloud &result)
void	run ()
void	tracking (const RefCloudConstPtr &cloud)
void	viz_cb (pcl::visualization::PCLVisualizer &viz)
Public Attributes
CloudPtr	cloud_hull_
CloudPtr	cloud_pass_
CloudPtr	cloud_pass_downsampled_
double	computation_time_
int	counter_
std::string	device_id_
double	downsampling_grid_size_
double	downsampling_time_
std::vector< pcl::Vertices >	hull_vertices_
boost::mutex	mtx_
pcl::NormalEstimationOMP < PointType, pcl::Normal >	ne_
bool	new_cloud_
CloudPtr	nonplane_cloud_
pcl::PointCloud< pcl::Normal >::Ptr	normals_
CloudPtr	plane_cloud_
CloudPtr	reference_
CloudPtr	segmented_cloud_
boost::shared_ptr< ParticleFilter >	tracker_
double	tracking_time_
bool	use_convex_hull_
pcl::visualization::CloudViewer	viewer_
bool	visualize_non_downsample_
bool	visualize_particles_

Detailed Description

template<typename PointType>
class OpenNISegmentTracking< PointType >

Definition at line 73 of file openni_tracking.cpp.

Member Typedef Documentation

template<typename PointType>

typedef pcl::PointCloud<PointType> OpenNISegmentTracking< PointType >::Cloud

Definition at line 81 of file openni_tracking.cpp.

template<typename PointType>

typedef Cloud::ConstPtr OpenNISegmentTracking< PointType >::CloudConstPtr

Definition at line 86 of file openni_tracking.cpp.

template<typename PointType>

typedef Cloud::Ptr OpenNISegmentTracking< PointType >::CloudPtr

Definition at line 85 of file openni_tracking.cpp.

template<typename PointType>

typedef ParticleFilter::CoherencePtr OpenNISegmentTracking< PointType >::CoherencePtr

Definition at line 91 of file openni_tracking.cpp.

template<typename PointType>

typedef pcl::search::KdTree<PointType> OpenNISegmentTracking< PointType >::KdTree

Definition at line 92 of file openni_tracking.cpp.

template<typename PointType>

typedef KdTree::Ptr OpenNISegmentTracking< PointType >::KdTreePtr

Definition at line 93 of file openni_tracking.cpp.

template<typename PointType>

typedef ParticleFilterTracker<RefPointType, ParticleT> OpenNISegmentTracking< PointType >::ParticleFilter

Definition at line 90 of file openni_tracking.cpp.

template<typename PointType>

typedef ParticleXYZRPY OpenNISegmentTracking< PointType >::ParticleT

Definition at line 79 of file openni_tracking.cpp.

template<typename PointType>

typedef pcl::PointCloud<RefPointType> OpenNISegmentTracking< PointType >::RefCloud

Definition at line 82 of file openni_tracking.cpp.

template<typename PointType>

typedef RefCloud::ConstPtr OpenNISegmentTracking< PointType >::RefCloudConstPtr

Definition at line 84 of file openni_tracking.cpp.

template<typename PointType>

typedef RefCloud::Ptr OpenNISegmentTracking< PointType >::RefCloudPtr

Definition at line 83 of file openni_tracking.cpp.

template<typename PointType>

typedef pcl::PointXYZRGBA OpenNISegmentTracking< PointType >::RefPointType

Definition at line 77 of file openni_tracking.cpp.

Constructor & Destructor Documentation

template<typename PointType>

OpenNISegmentTracking< PointType >::OpenNISegmentTracking	(	const std::string &	device_id,
		int	thread_nr,
		double	downsampling_grid_size,
		bool	use_convex_hull,
		bool	visualize_non_downsample,
		bool	visualize_particles,
		bool	use_fixed
	)		`[inline]`

Definition at line 94 of file openni_tracking.cpp.

Member Function Documentation

template<typename PointType>

void OpenNISegmentTracking< PointType >::addNormalToCloud	(	const CloudConstPtr &	cloud,
		const pcl::PointCloud< pcl::Normal >::ConstPtr &	normals,
		RefCloud &	result
	)		`[inline]`

Definition at line 415 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::cloud_cb ( const CloudConstPtr & cloud ) [inline]

Definition at line 492 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::convexHull	(	const CloudConstPtr &	cloud,
		Cloud &	,
		std::vector< pcl::Vertices > &	hull_vertices
	)		`[inline]`

Definition at line 384 of file openni_tracking.cpp.

template<typename PointType>

bool OpenNISegmentTracking< PointType >::drawParticles ( pcl::visualization::PCLVisualizer & viz ) [inline]

Definition at line 176 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::drawResult ( pcl::visualization::PCLVisualizer & viz ) [inline]

Definition at line 210 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::euclideanSegment	(	const CloudConstPtr &	cloud,
		std::vector< pcl::PointIndices > &	cluster_indices
	)		`[inline]`

Definition at line 308 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::extractNonPlanePoints	(	const CloudConstPtr &	cloud,
		const CloudConstPtr &	cloud_hull,
		Cloud &	result
	)		`[inline]`

Definition at line 436 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::extractSegmentCluster	(	const CloudConstPtr &	cloud,
		const std::vector< pcl::PointIndices >	cluster_indices,
		const int	segment_index,
		Cloud &	result
	)		`[inline]`

Definition at line 475 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::filterPassThrough	(	const CloudConstPtr &	cloud,
		Cloud &	result
	)		`[inline]`

Definition at line 294 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::gridSample	(	const CloudConstPtr &	cloud,
		Cloud &	result,
		double	leaf_size = `0.01`
	)		`[inline]`

Definition at line 325 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::gridSampleApprox	(	const CloudConstPtr &	cloud,
		Cloud &	result,
		double	leaf_size = `0.01`
	)		`[inline]`

Definition at line 340 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::normalEstimation	(	const CloudConstPtr &	cloud,
		pcl::PointCloud< pcl::Normal > &	result
	)		`[inline]`

Definition at line 395 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::planeProjection	(	const CloudConstPtr &	cloud,
		Cloud &	result,
		const pcl::ModelCoefficients::ConstPtr &	coefficients
	)		`[inline]`

Definition at line 371 of file openni_tracking.cpp.

template<typename PointType>

void OpenNISegmentTracking< PointType >::planeSegmentation	(	const CloudConstPtr &	cloud,
		pcl::ModelCoefficients &	coefficients,
		pcl::PointIndices &	inliers
	)		`[inline]`