#include <ransac.h>

Inheritance diagram for Segmentation::Segmentation_RANSAC< Point, PointLabel >:

Classes
struct	SHAPE_S
Public Member Functions
virtual bool	compute ()
void	compute_accuracy (float &mean, float &var, float &mean_weighted, float &var_weighted, size_t &used, size_t &mem, size_t &points, float &avg_dist, const boost::shared_ptr< const pcl::PointCloud< PointLabel > > &labeled_pc, double &true_positive, double &false_positive)
void	enableCylinders (const bool b)
void	enablePlanes (const bool b)
void	enableSpheres (const bool b)
virtual boost::shared_ptr < const pcl::PointCloud < PointLabel > >	getOutputCloud ()
	gets preprocessed output cloud
virtual boost::shared_ptr < const pcl::PointCloud < PointLabel > >	getReconstructedOutputCloud ()
	gets reconstructed output cloud
virtual	operator cob_3d_mapping_msgs::ShapeArray () const
	convert to ROS message
	operator visualization_msgs::Marker () const
	convert edges to ROS message
	Segmentation_RANSAC ()
	constructor, setups variables
virtual void	setInputCloud (const boost::shared_ptr< const pcl::PointCloud< Point > > &cloud)
	sets preprocessed input cloud
virtual	~Segmentation_RANSAC ()
	destructor
Private Attributes
bool	cylinders_
boost::shared_ptr< const pcl::PointCloud< Point > >	input_
bool	planes_
std::vector< SHAPE_S >	shapes_
bool	spheres_

Detailed Description

template<typename Point, typename PointLabel>
class Segmentation::Segmentation_RANSAC< Point, PointLabel >

a segmentation implementation based on quad-trees and regression

Definition at line 76 of file ransac.h.

Constructor & Destructor Documentation

template<typename Point, typename PointLabel>

Segmentation::Segmentation_RANSAC< Point, PointLabel >::Segmentation_RANSAC ( ) [inline]

constructor, setups variables

Definition at line 92 of file ransac.h.

template<typename Point, typename PointLabel>

virtual Segmentation::Segmentation_RANSAC< Point, PointLabel >::~Segmentation_RANSAC ( ) [inline, virtual]

destructor

Definition at line 96 of file ransac.h.

Member Function Documentation

template<typename Point , typename PointLabel >

bool Segmentation::Segmentation_RANSAC< Point, PointLabel >::compute ( ) [virtual]

Implements GeneralSegmentation< Point, PointLabel >.

Definition at line 12 of file ransac.hpp.

template<typename Point , typename PointLabel >

void Segmentation::Segmentation_RANSAC< Point, PointLabel >::compute_accuracy	(	float &	mean,
		float &	var,
		float &	mean_weighted,
		float &	var_weighted,
		size_t &	used,
		size_t &	mem,
		size_t &	points,
		float &	avg_dist,
		const boost::shared_ptr< const pcl::PointCloud< PointLabel > > &	labeled_pc,
		double &	true_positive,
		double &	false_positive
	)

Definition at line 109 of file ransac.hpp.

template<typename Point, typename PointLabel>

void Segmentation::Segmentation_RANSAC< Point, PointLabel >::enableCylinders ( const bool b ) [inline]

Definition at line 131 of file ransac.h.

template<typename Point, typename PointLabel>

void Segmentation::Segmentation_RANSAC< Point, PointLabel >::enablePlanes ( const bool b ) [inline]

Definition at line 129 of file ransac.h.

template<typename Point, typename PointLabel>

void Segmentation::Segmentation_RANSAC< Point, PointLabel >::enableSpheres ( const bool b ) [inline]

Definition at line 130 of file ransac.h.

template<typename Point, typename PointLabel>

virtual boost::shared_ptr<const pcl::PointCloud<PointLabel> > Segmentation::Segmentation_RANSAC< Point, PointLabel >::getOutputCloud ( ) [inline, virtual]

gets preprocessed output cloud

Implements GeneralSegmentation< Point, PointLabel >.

Definition at line 137 of file ransac.h.

template<typename Point , typename PointLabel >

boost::shared_ptr< const pcl::PointCloud< PointLabel > > Segmentation::Segmentation_RANSAC< Point, PointLabel >::getReconstructedOutputCloud ( ) [virtual]

gets reconstructed output cloud

Definition at line 69 of file ransac.hpp.

template<typename Point, typename PointLabel>

virtual Segmentation::Segmentation_RANSAC< Point, PointLabel >::operator cob_3d_mapping_msgs::ShapeArray ( ) const [inline, virtual]

convert to ROS message

Implements GeneralSegmentation< Point, PointLabel >.

Definition at line 140 of file ransac.h.

template<typename Point, typename PointLabel>

Segmentation::Segmentation_RANSAC< Point, PointLabel >::operator visualization_msgs::Marker ( ) const

convert edges to ROS message

template<typename Point, typename PointLabel>

virtual void Segmentation::Segmentation_RANSAC< Point, PointLabel >::setInputCloud ( const boost::shared_ptr< const pcl::PointCloud< Point > > & cloud ) [inline, virtual]