Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
PlaneExtraction Class Reference

#include <plane_extraction.h>

List of all members.

Public Types

typedef pcl::PointXYZRGB Point
typedef pcl::PointXYZRGB Point

Public Member Functions

void extractPlanes (const pcl::PointCloud< Point >::ConstPtr &pc_in, std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &v_cloud_hull, std::vector< std::vector< pcl::Vertices > > &v_hull_polygons, std::vector< pcl::ModelCoefficients > &v_coefficients_plane)
void extractPlanes (const pcl::PointCloud< Point >::ConstPtr &pc_in, std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &v_cloud_hull, std::vector< std::vector< pcl::Vertices > > &v_hull_polygons, std::vector< pcl::ModelCoefficients > &v_coefficients_plane)
void findClosestTable (std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &v_cloud_hull, std::vector< pcl::ModelCoefficients > &v_coefficients_plane, Eigen::Vector3f &robot_pose, unsigned int &idx)
void findClosestTable (std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &v_cloud_hull, std::vector< pcl::ModelCoefficients > &v_coefficients_plane, Eigen::Vector3f &robot_pose, unsigned int &idx)
 PlaneExtraction ()
 PlaneExtraction ()
void saveHulls (pcl::PointCloud< Point > &cloud_hull, std::vector< pcl::Vertices > &hull_polygons, int plane_ctr)
void saveHulls (pcl::PointCloud< Point > &cloud_hull, std::vector< pcl::Vertices > &hull_polygons, int plane_ctr)
void setAlpha (double alpha)
void setAlpha (double alpha)
void setClusterTolerance (double cluster_tolerance)
void setClusterTolerance (double cluster_tolerance)
void setFilePath (std::string file_path)
void setFilePath (std::string file_path)
void setMinPlaneSize (unsigned int min_plane_size)
void setMinPlaneSize (unsigned int min_plane_size)
void setPlaneConstraint (PlaneConstraint constr)
void setPlaneConstraint (PlaneConstraint constr)
void setSaveToFile (bool save_to_file)
void setSaveToFile (bool save_to_file)
void setSegmentationParamDistanceThreshold (double threshold)
void setSegmentationParamDistanceThreshold (double threshold)
void setSegmentationParamMaxIterations (int max_iterations)
void setSegmentationParamMaxIterations (int max_iterations)
void setSegmentationParamMethodType (int method_type)
void setSegmentationParamMethodType (int method_type)
void setSegmentationParamOptimizeCoefficients (bool optimize_coefficients)
void setSegmentationParamOptimizeCoefficients (bool optimize_coefficients)
 ~PlaneExtraction ()
 ~PlaneExtraction ()

Public Attributes

std::vector< std::vector< int > > extracted_planes_indices_

Protected Member Functions

void dumpToPCDFileAllPlanes (pcl::PointCloud< Point >::Ptr dominant_plane_ptr)
 write point cloud data to a file
void dumpToPCDFileAllPlanes (pcl::PointCloud< Point >::Ptr dominant_plane_ptr)
 write point cloud data to a file
bool isValidPlane (const pcl::ModelCoefficients &coefficients_plane)
 check whether given plane is valid or not
bool isValidPlane (const pcl::ModelCoefficients &coefficients_plane)
 check whether given plane is valid or not

Protected Attributes

double alpha_
pcl::ConcaveHull< Point > chull_
pcl::EuclideanClusterExtraction
< Point > 		cluster_
pcl::EuclideanClusterExtraction
< Point > 		cluster_plane_
double cluster_tolerance_
int ctr_
double distance_threshold_
pcl::ExtractIndices< Point > extract_
pcl::PointCloud< Point > extracted_planes_
std::string file_path_
int max_iterations_
unsigned int min_plane_size_
PlaneConstraint plane_constraint_
pcl::ProjectInliers< Point > proj_
double radius_
bool save_to_file_
pcl::SACSegmentation< Point > seg_

Detailed Description

Definition at line 85 of file plane_extraction/plane_extraction.h.

Member Typedef Documentation

typedef pcl::PointXYZRGB PlaneExtraction::Point

Definition at line 88 of file plane_extraction/plane_extraction.h.

typedef pcl::PointXYZRGB PlaneExtraction::Point

Definition at line 96 of file plane_extraction.h.

Constructor & Destructor Documentation

PlaneExtraction::PlaneExtraction ( )

Definition at line 94 of file plane_extraction.cpp.

PlaneExtraction::~PlaneExtraction ( ) [inline]

void

Definition at line 93 of file plane_extraction/plane_extraction.h.

PlaneExtraction::PlaneExtraction ( )
PlaneExtraction::~PlaneExtraction ( ) [inline]

void

Definition at line 101 of file plane_extraction.h.

Member Function Documentation

void PlaneExtraction::dumpToPCDFileAllPlanes ( pcl::PointCloud< Point >::Ptr  dominant_plane_ptr) [protected]

write point cloud data to a file

Parameters:
dominant_plane_ptrpointer to point cloud specifying dominant plane
Returns:
nothing

Definition at line 440 of file plane_extraction.cpp.

void PlaneExtraction::dumpToPCDFileAllPlanes ( pcl::PointCloud< Point >::Ptr  dominant_plane_ptr) [protected]

write point cloud data to a file

Parameters:
dominant_plane_ptrpointer to point cloud specifying dominant plane
Returns:
nothing
void PlaneExtraction::extractPlanes ( const pcl::PointCloud< Point >::ConstPtr &  pc_in,
std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &  v_cloud_hull,
std::vector< std::vector< pcl::Vertices > > &  v_hull_polygons,
std::vector< pcl::ModelCoefficients > &  v_coefficients_plane 
)

Definition at line 182 of file plane_extraction.cpp.

void PlaneExtraction::extractPlanes ( const pcl::PointCloud< Point >::ConstPtr &  pc_in,
std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &  v_cloud_hull,
std::vector< std::vector< pcl::Vertices > > &  v_hull_polygons,
std::vector< pcl::ModelCoefficients > &  v_coefficients_plane 
)
void PlaneExtraction::findClosestTable ( std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &  v_cloud_hull,
std::vector< pcl::ModelCoefficients > &  v_coefficients_plane,
Eigen::Vector3f &  robot_pose,
unsigned int &  idx 
)

Definition at line 476 of file plane_extraction.cpp.

void PlaneExtraction::findClosestTable ( std::vector< pcl::PointCloud< Point >, Eigen::aligned_allocator< pcl::PointCloud< Point > > > &  v_cloud_hull,
std::vector< pcl::ModelCoefficients > &  v_coefficients_plane,
Eigen::Vector3f &  robot_pose,
unsigned int &  idx 
)
bool PlaneExtraction::isValidPlane ( const pcl::ModelCoefficients &  coefficients_plane) [protected]

check whether given plane is valid or not

Parameters:
coefficients_planepointer to coefficients of the plane to be evaluated
Returns:
nothing

Definition at line 145 of file plane_extraction.cpp.

bool PlaneExtraction::isValidPlane ( const pcl::ModelCoefficients &  coefficients_plane) [protected]

check whether given plane is valid or not

Parameters:
coefficients_planepointer to coefficients of the plane to be evaluated
Returns:
nothing
void PlaneExtraction::saveHulls ( pcl::PointCloud< Point > &  cloud_hull,
std::vector< pcl::Vertices > &  hull_polygons,
int  plane_ctr 
)

Definition at line 455 of file plane_extraction.cpp.

void PlaneExtraction::saveHulls ( pcl::PointCloud< Point > &  cloud_hull,
std::vector< pcl::Vertices > &  hull_polygons,
int  plane_ctr 
)
void PlaneExtraction::setAlpha ( double  alpha) [inline]

Definition at line 180 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setAlpha ( double  alpha) [inline]

Definition at line 188 of file plane_extraction.h.

void PlaneExtraction::setClusterTolerance ( double  cluster_tolerance) [inline]

Definition at line 128 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setClusterTolerance ( double  cluster_tolerance) [inline]

Definition at line 136 of file plane_extraction.h.

void PlaneExtraction::setFilePath ( std::string  file_path) [inline]

Definition at line 116 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setFilePath ( std::string  file_path) [inline]

Definition at line 124 of file plane_extraction.h.

void PlaneExtraction::setMinPlaneSize ( unsigned int  min_plane_size) [inline]

Definition at line 136 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setMinPlaneSize ( unsigned int  min_plane_size) [inline]

Definition at line 144 of file plane_extraction.h.

void PlaneExtraction::setPlaneConstraint ( PlaneConstraint  constr) [inline]

Definition at line 110 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setPlaneConstraint ( PlaneConstraint  constr) [inline]

Definition at line 118 of file plane_extraction.h.

void PlaneExtraction::setSaveToFile ( bool  save_to_file) [inline]

Definition at line 122 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setSaveToFile ( bool  save_to_file) [inline]

Definition at line 130 of file plane_extraction.h.

void PlaneExtraction::setSegmentationParamDistanceThreshold ( double  threshold) [inline]

Definition at line 174 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setSegmentationParamDistanceThreshold ( double  threshold) [inline]

Definition at line 182 of file plane_extraction.h.

void PlaneExtraction::setSegmentationParamMaxIterations ( int  max_iterations) [inline]

Definition at line 168 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setSegmentationParamMaxIterations ( int  max_iterations) [inline]

Definition at line 176 of file plane_extraction.h.

void PlaneExtraction::setSegmentationParamMethodType ( int  method_type) [inline]

Definition at line 156 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setSegmentationParamMethodType ( int  method_type) [inline]

Definition at line 164 of file plane_extraction.h.

void PlaneExtraction::setSegmentationParamOptimizeCoefficients ( bool  optimize_coefficients) [inline]

Definition at line 150 of file plane_extraction/plane_extraction.h.

void PlaneExtraction::setSegmentationParamOptimizeCoefficients ( bool  optimize_coefficients) [inline]

Definition at line 158 of file plane_extraction.h.

Member Data Documentation

double PlaneExtraction::alpha_ [protected]

Definition at line 232 of file plane_extraction/plane_extraction.h.

pcl::ConcaveHull< Point > PlaneExtraction::chull_ [protected]

Definition at line 241 of file plane_extraction/plane_extraction.h.

pcl::EuclideanClusterExtraction< Point > PlaneExtraction::cluster_ [protected]

Definition at line 234 of file plane_extraction/plane_extraction.h.

pcl::EuclideanClusterExtraction< Point > PlaneExtraction::cluster_plane_ [protected]

Definition at line 235 of file plane_extraction/plane_extraction.h.

double PlaneExtraction::cluster_tolerance_ [protected]

Definition at line 220 of file plane_extraction/plane_extraction.h.

int PlaneExtraction::ctr_ [protected]

Definition at line 214 of file plane_extraction/plane_extraction.h.

double PlaneExtraction::distance_threshold_ [protected]

Definition at line 229 of file plane_extraction/plane_extraction.h.

pcl::ExtractIndices< Point > PlaneExtraction::extract_ [protected]

Definition at line 238 of file plane_extraction/plane_extraction.h.

pcl::PointCloud< Point > PlaneExtraction::extracted_planes_ [protected]

Definition at line 243 of file plane_extraction/plane_extraction.h.

std::vector< std::vector< int > > PlaneExtraction::extracted_planes_indices_

Definition at line 246 of file plane_extraction/plane_extraction.h.

std::string PlaneExtraction::file_path_ [protected]

Definition at line 215 of file plane_extraction/plane_extraction.h.

int PlaneExtraction::max_iterations_ [protected]

Definition at line 228 of file plane_extraction/plane_extraction.h.

unsigned int PlaneExtraction::min_plane_size_ [protected]

Definition at line 221 of file plane_extraction/plane_extraction.h.

PlaneConstraint PlaneExtraction::plane_constraint_ [protected]

Definition at line 217 of file plane_extraction/plane_extraction.h.

pcl::ProjectInliers< Point > PlaneExtraction::proj_ [protected]

Definition at line 240 of file plane_extraction/plane_extraction.h.

double PlaneExtraction::radius_ [protected]

Definition at line 224 of file plane_extraction/plane_extraction.h.

bool PlaneExtraction::save_to_file_ [protected]

Definition at line 216 of file plane_extraction/plane_extraction.h.

pcl::SACSegmentation< Point > PlaneExtraction::seg_ [protected]

Definition at line 237 of file plane_extraction/plane_extraction.h.

The documentation for this class was generated from the following files:

cob_3d_segmentation
Author(s): Georg Arbeiter
autogenerated on Wed Aug 26 2015 11:03:03