#include <plane.h>

Inheritance diagram for srs_env_model_percp::PlaneExt:

Public Types
typedef std::vector < cob_3d_mapping_msgs::Shape, Eigen::aligned_allocator < cob_3d_mapping_msgs::Shape > >	tShapeMarker
typedef std::vector < pcl::Vertices >	tVertices
Public Member Functions
visualization_msgs::Marker	AddPlanePoints (pcl::PointCloud< pcl::PointXYZ >::Ptr plane_cloud, int max_poly_size)
std::list< TPPLPoly > &	getMesh ()
visualization_msgs::Marker &	getMeshMarker ()
ClipperLib::ExPolygons &	getPolygons ()
tShapeMarker &	getShapeMarker ()
visualization_msgs::Marker	NewPlanePoints (pcl::PointCloud< pcl::PointXYZ >::Ptr plane_cloud)
	PlaneExt (but_plane_detector::Plane< float > plane)
void	setColor (std_msgs::ColorRGBA &new_color)
void	setPolygons (ClipperLib::ExPolygons &polys)
void	TriangulatePlanePolygon ()
Public Attributes
std_msgs::ColorRGBA	color
Protected Member Functions
tVertices	ComputeConcaveHull (pcl::PointCloud< pcl::PointXYZ >::Ptr &plane_cloud, pcl::PointCloud< pcl::PointXYZ >::Ptr &plane_hull)
bool	ConcaveHullJoinCurrent (pcl::PointCloud< pcl::PointXYZ >::Ptr &plane_hull, tVertices &polygon_indices, int max_poly_size)
void	ConcaveHullRewrite (pcl::PointCloud< pcl::PointXYZ >::Ptr &plane_hull, tVertices &polygon_indices)
ClipperLib::ExPolygons	PolygonizeConcaveHull (pcl::PointCloud< pcl::PointXYZ >::Ptr &plane_hull, tVertices &polygon_indices)
Protected Attributes
pcl::ModelCoefficients::Ptr	planeCoefficients
ClipperLib::ExPolygons	planePolygonsClipper
double	planeShift
Eigen::Affine3f	planeTransXY
visualization_msgs::Marker	planeTriangles
tShapeMarker	planeTrianglesSRS
Eigen::Quaternion< float >	rotationQuaternion
Static Protected Attributes
static const int	MAX_POLYS = 1000

Detailed Description

Definition at line 48 of file plane.h.

Member Typedef Documentation

typedef std::vector<cob_3d_mapping_msgs::Shape, Eigen::aligned_allocator<cob_3d_mapping_msgs::Shape> > srs_env_model_percp::PlaneExt::tShapeMarker

Definition at line 51 of file plane.h.

typedef std::vector<pcl::Vertices> srs_env_model_percp::PlaneExt::tVertices

Definition at line 54 of file plane.h.

Constructor & Destructor Documentation

srs_env_model_percp::PlaneExt::PlaneExt ( but_plane_detector::Plane< float > plane )

Creates an instance of this type... Must be on the basis of existing plane

Definition at line 5 of file plane.cpp.

Member Function Documentation

visualization_msgs::Marker srs_env_model_percp::PlaneExt::AddPlanePoints	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	plane_cloud,
		int	max_poly_size
	)

Update marker and polygonized hull

Definition at line 253 of file plane.cpp.

PlaneExt::tVertices srs_env_model_percp::PlaneExt::ComputeConcaveHull	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	plane_cloud,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	plane_hull
	)		`[protected]`

Definition at line 35 of file plane.cpp.

bool srs_env_model_percp::PlaneExt::ConcaveHullJoinCurrent	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	plane_hull,
		tVertices &	polygon_indices,
		int	max_poly_size
	)		`[protected]`

Definition at line 100 of file plane.cpp.

void srs_env_model_percp::PlaneExt::ConcaveHullRewrite	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	plane_hull,
		tVertices &	polygon_indices
	)		`[protected]`

Definition at line 94 of file plane.cpp.

std::list<TPPLPoly>& srs_env_model_percp::PlaneExt::getMesh ( )

Get Mesh structure

visualization_msgs::Marker & srs_env_model_percp::PlaneExt::getMeshMarker ( )

Get MarkerArray message

Definition at line 271 of file plane.cpp.

ClipperLib::ExPolygons & srs_env_model_percp::PlaneExt::getPolygons ( )

Get polygon

Definition at line 290 of file plane.cpp.

PlaneExt::tShapeMarker & srs_env_model_percp::PlaneExt::getShapeMarker ( )

Get Shape messages

Definition at line 276 of file plane.cpp.

visualization_msgs::Marker srs_env_model_percp::PlaneExt::NewPlanePoints ( pcl::PointCloud< pcl::PointXYZ >::Ptr plane_cloud )

Make a new marker and polygonized hull

Definition at line 238 of file plane.cpp.

ClipperLib::ExPolygons srs_env_model_percp::PlaneExt::PolygonizeConcaveHull	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	plane_hull,
		tVertices &	polygon_indices
	)		`[protected]`