Public Member Functions | Public Attributes | Protected Attributes
IncGroundRemoval Class Reference

List of all members.

Public Member Functions

void cloud_cb (const sensor_msgs::PointCloud2::ConstPtr &msg)
void computeCentroid (const sample_consensus::PointCloud &points, const std::vector< int > &indices, pcl::PointXYZ &centroid)
 Compute the centroid of a set of points using their indices and return it as a Point32 message.
void computeCovarianceMatrix (const sample_consensus::PointCloud &points, const std::vector< int > &indices, Eigen::Matrix3d &covariance_matrix, pcl::PointXYZ &centroid)
 Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d.
void computePointNormal (const sample_consensus::PointCloud &points, const std::vector< int > &indices, Eigen::Vector4d &plane_parameters, double &curvature)
 Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.
bool fitSACLine (sample_consensus::PointCloud *points, vector< int > *indices, vector< int > &inliers)
 Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods.
void flipNormalTowardsViewpoint (Eigen::Vector4d &normal, const pcl::PointXYZ &point, const geometry_msgs::PointStamped &viewpoint)
 Flip (in place) the estimated normal of a point towards a given viewpoint.
void getCloudViewPoint (string cloud_frame, geometry_msgs::PointStamped &viewpoint_cloud, tf::TransformListener *tf)
 Get the view point from where the scans were taken in the incoming sample_consensus::PointCloud message frame.
 IncGroundRemoval (ros::NodeHandle &anode)
double pointToPlaneDistanceSigned (const pcl::PointXYZ &p, const Eigen::Vector4d &plane_coefficients)
 Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.
double transformDoubleValueTF (double val, std::string src_frame, std::string tgt_frame, ros::Time stamp, tf::TransformListener *tf)
 Transform a value from a source frame to a target frame at a certain moment in time with TF.
void transformPoint (tf::TransformListener *tf, const std::string &target_frame, const tf::Stamped< pcl::PointXYZ > &stamped_in, tf::Stamped< pcl::PointXYZ > &stamped_out)
 Transform a given point from its current frame to a given target frame.
void updateParametersFromServer ()
virtual ~IncGroundRemoval ()

Public Attributes

sample_consensus::PointCloud cloud_
sample_consensus::PointCloud cloud_noground_
tf::MessageFilter
< sensor_msgs::PointCloud2 > * 
cloud_notifier_
ros::Publisher cloud_publisher_
message_filters::Subscriber
< sensor_msgs::PointCloud2 > * 
cloud_subscriber_
double ground_slope_threshold_
sample_consensus::PointCloud laser_cloud_
std::string laser_tilt_mount_frame_
int planar_refine_
std::string robot_footprint_frame_
double sac_distance_threshold_
double sac_fitting_distance_threshold_
int sac_max_iterations_
int sac_min_points_per_model_
tf::TransformListener tf_
geometry_msgs::PointStamped viewpoint_cloud_
double z_threshold_

Protected Attributes

ros::NodeHandlenode_

Detailed Description

Definition at line 64 of file sac_inc_ground_removal_standalone.cpp.


Constructor & Destructor Documentation

Definition at line 90 of file sac_inc_ground_removal_standalone.cpp.

virtual IncGroundRemoval::~IncGroundRemoval ( ) [inline, virtual]

Definition at line 133 of file sac_inc_ground_removal_standalone.cpp.


Member Function Documentation

void IncGroundRemoval::cloud_cb ( const sensor_msgs::PointCloud2::ConstPtr &  msg) [inline]

Definition at line 315 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computeCentroid ( const sample_consensus::PointCloud points,
const std::vector< int > &  indices,
pcl::PointXYZ &  centroid 
) [inline]

Compute the centroid of a set of points using their indices and return it as a Point32 message.

Parameters:
pointsthe input point cloud
indicesthe point cloud indices that need to be used
centroidthe output centroid

Definition at line 224 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computeCovarianceMatrix ( const sample_consensus::PointCloud points,
const std::vector< int > &  indices,
Eigen::Matrix3d &  covariance_matrix,
pcl::PointXYZ &  centroid 
) [inline]

Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d.

Note:
The (x-y-z) centroid is also returned as a Point32 message.
Parameters:
pointsthe input point cloud
indicesthe point cloud indices that need to be used
covariance_matrixthe 3x3 covariance matrix
centroidthe computed centroid

Definition at line 250 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computePointNormal ( const sample_consensus::PointCloud points,
const std::vector< int > &  indices,
Eigen::Vector4d &  plane_parameters,
double &  curvature 
) [inline]

Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.

Parameters:
pointsthe input point cloud
indicesthe point cloud indices that need to be used
plane_parametersthe plane parameters as: a, b, c, d (ax + by + cz + d = 0)
curvaturethe estimated surface curvature as a measure of

\[ \lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2) \]

Definition at line 285 of file sac_inc_ground_removal_standalone.cpp.

bool IncGroundRemoval::fitSACLine ( sample_consensus::PointCloud points,
vector< int > *  indices,
vector< int > &  inliers 
) [inline]

Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods.

Parameters:
pointsthe point cloud message
indicesa pointer to a set of point cloud indices to test
inliersthe resultant inliers

Definition at line 152 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::flipNormalTowardsViewpoint ( Eigen::Vector4d &  normal,
const pcl::PointXYZ &  point,
const geometry_msgs::PointStamped &  viewpoint 
) [inline]

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:
normalthe plane normal to be flipped
pointa given point
viewpointthe viewpoint

Definition at line 196 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::getCloudViewPoint ( string  cloud_frame,
geometry_msgs::PointStamped &  viewpoint_cloud,
tf::TransformListener tf 
) [inline]

Get the view point from where the scans were taken in the incoming sample_consensus::PointCloud message frame.

Parameters:
cloud_framethe point cloud message TF frame
viewpoint_cloudthe resultant view point in the incoming cloud frame
tfa pointer to a TransformListener object

Definition at line 462 of file sac_inc_ground_removal_standalone.cpp.

double IncGroundRemoval::pointToPlaneDistanceSigned ( const pcl::PointXYZ &  p,
const Eigen::Vector4d &  plane_coefficients 
) [inline]

Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.

Parameters:
pa point
plane_coefficientsthe normalized coefficients (a, b, c, d) of a plane

Definition at line 450 of file sac_inc_ground_removal_standalone.cpp.

double IncGroundRemoval::transformDoubleValueTF ( double  val,
std::string  src_frame,
std::string  tgt_frame,
ros::Time  stamp,
tf::TransformListener tf 
) [inline]

Transform a value from a source frame to a target frame at a certain moment in time with TF.

Parameters:
valthe value to transform
src_framethe source frame to transform the value from
tgt_framethe target frame to transform the value into
stampa given time stamp
tfa pointer to a TransformListener object

Definition at line 530 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::transformPoint ( tf::TransformListener tf,
const std::string &  target_frame,
const tf::Stamped< pcl::PointXYZ > &  stamped_in,
tf::Stamped< pcl::PointXYZ > &  stamped_out 
) [inline]

Transform a given point from its current frame to a given target frame.

Parameters:
tfa pointer to a TransformListener object
target_framethe target frame to transform the point into
stamped_inthe input point
stamped_outthe output point

Definition at line 496 of file sac_inc_ground_removal_standalone.cpp.

Definition at line 137 of file sac_inc_ground_removal_standalone.cpp.


Member Data Documentation

Definition at line 72 of file sac_inc_ground_removal_standalone.cpp.

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Definition at line 81 of file sac_inc_ground_removal_standalone.cpp.

Definition at line 74 of file sac_inc_ground_removal_standalone.cpp.

geometry_msgs::PointStamped IncGroundRemoval::viewpoint_cloud_

Definition at line 75 of file sac_inc_ground_removal_standalone.cpp.

Definition at line 80 of file sac_inc_ground_removal_standalone.cpp.


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


semantic_point_annotator
Author(s): Radu Bogdan Rusu
autogenerated on Thu Aug 27 2015 14:29:29