Classes
struct	Object
	Object represents a segmented object on a surface. More...
class	Segmentation
	Segmentation is the algorithm for tabletop/shelf segmentation. More...
struct	Surface
	Represents a surface. More...
class	SurfaceFinder
	SurfaceFinder attempt to find multiple horizontal surfaces given a shelf scene. More...
class	SurfaceHistoryRecorder
	SurfaceHistoryRecorder records information of time, iteration and history of each surface. More...
struct	SurfaceObjects
	Represents a surface with objects above it. More...
class	SurfaceViz
	A visualization for a surface. More...
Functions
bool	FindObjectsOnSurfaces (PointCloudC::Ptr cloud, pcl::PointIndicesPtr indices, const std::vector< Surface > &surface_vec, double margin_above_surface, double cluster_distance, int min_cluster_size, int max_cluster_size, std::vector< SurfaceObjects > *surfaces_objects_vec)
bool	FindObjectsOnSurfaces (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointIndicesPtr indices, const std::vector< Surface > &surface_vec, double margin_above_surface, double cluster_distance, int min_cluster_size, int max_cluster_size, std::vector< SurfaceObjects > *surfaces_objects_vec)
	The algorithm that segments the objects above each of a list of surfaces.
bool	FindSurfaces (PointCloudC::Ptr cloud, pcl::PointIndices::Ptr indices, double max_point_distance, double horizontal_tolerance_degrees, int min_surface_size, int min_surface_exploration_iteration, std::vector< Surface > *surfaces)
bool	FindSurfaces (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointIndicesPtr indices, double max_point_distance, double horizontal_tolerance_degrees, int min_surface_size, int min_surface_exploration_iteration, std::vector< Surface > *surfaces)
	Finds horizonal surfaces in the given point cloud.
bool	FitBox (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &input, const pcl::PointIndicesPtr &indices, const pcl::ModelCoefficients::Ptr &model, geometry_msgs::Pose pose, geometry_msgs::Vector3 dimensions)
	Fits an oriented bounding box around a given point cloud representing an object or a surface.
bool	FitBox (const PointCloudC::Ptr &input, const pcl::PointIndices::Ptr &indices, const pcl::ModelCoefficients::Ptr &model, geometry_msgs::Pose pose, geometry_msgs::Vector3 dimensions)
bool	FitBoxOnSurface (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &input, const pcl::PointIndicesPtr &indices, const Surface &surface, geometry_msgs::Pose pose, geometry_msgs::Vector3 dimensions)
	Fits an oriented bounding box around a given point cloud representing an object resting on a surface.
visualization_msgs::MarkerArray	GetAxesMarkerArray (const std::string &name_space, const std::string &frame_id, const geometry_msgs::Pose &pose, double scale)
	This helper function generates a marker array where axes are represented by three markers of colored cylinder bars.
bool	GetSceneAboveSurface (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointIndices::Ptr indices, const pcl::ModelCoefficients &coefficients, double margin_above_surface, float height_limit, pcl::PointIndices::Ptr above_surface_indices)
bool	GetSceneAboveSurface (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointIndicesPtr indices, const pcl::ModelCoefficients &coefficients, double margin_above_surface, float height_limit, pcl::PointIndices::Ptr above_surface_indices)
	Extracts the part of the point cloud above a given surface.
void	ObjectMarkers (const std::vector< Object > &objects, std::vector< visualization_msgs::Marker > *markers)
	Generates markers for the given objects. Does not set the namespaces or IDs.
Eigen::Matrix3f	StandardizeBoxOrientation (const Eigen::Matrix3f &rotation_matrix, double x_dim, double y_dim, double updated_x_dim, double updated_y_dim)
	Returns a standardized orientation for a box.
void	SurfaceMarker (const Surface &surface, visualization_msgs::Marker *marker)
	Generates a marker for the given surface. Does not set the namespace or ID.
void	SurfaceMarkers (const std::vector< SurfaceObjects > &surfaces, std::vector< visualization_msgs::Marker > *markers)
	TEST (TestStandardizeBoxOrientation, IdentityMatrix)
	TEST (TestStandardizeBoxOrientation, IdentityMatrixRotate180DegreesAroundYAxis)
	TEST (TestStandardizeBoxOrientation, IdentityMatrixRotate45DegreesAroundZAxis)
	TEST (TestStandardizeBoxOrientation, IdentityMatrixRotate135DegreesAroundZAxis)
	TEST (TestStandardizeBoxOrientation, TiltedMatrix)
	TEST (TestStandardizeBoxOrientation, TiltedMatrixRotate180DegreesAroundYAxis)
	TEST (TestStandardizeBoxOrientation, IdentityMatrixWithXLongSideYShortSdie)
	TEST (TestStandardizeBoxOrientation, TiltedMatrixWithXLongSideYShortSide)
Variables
const double	kLongSide = 2.0
const double	kShortSide = 1.0

Function Documentation

bool surface_perception::FindObjectsOnSurfaces	(	PointCloudC::Ptr	cloud,
		pcl::PointIndicesPtr	indices,
		const std::vector< Surface > &	surface_vec,
		double	margin_above_surface,
		double	cluster_distance,
		int	min_cluster_size,
		int	max_cluster_size,
		std::vector< SurfaceObjects > *	surfaces_objects_vec
	)

Definition at line 184 of file segmentation.cpp.

bool surface_perception::FindObjectsOnSurfaces	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointIndicesPtr	indices,
		const std::vector< Surface > &	surface_vec,
		double	margin_above_surface,
		double	cluster_distance,
		int	min_cluster_size,
		int	max_cluster_size,
		std::vector< SurfaceObjects > *	surfaces_objects_vec
	)

The algorithm that segments the objects above each of a list of surfaces.

Parameters:

[in]	cloud	The point cloud to find a surface in, where positive z points up.
[in]	indices	The indices in the point cloud to segment from.
[in]	surface_vec	The vector of surfaces to segment objects from.
[in]	margin_above_surface	The margin to extend above the surface plane, in meters.
[in]	cluster_distance	The distance between points (in meters) for those points to be considered part of separate objects.
[in]	min_cluster_size	The minimum number of points that must be in a cluster for that cluster to be considered an object.
[in]	max_cluster_size	The maximum number of points that can be in a cluster for that cluster to be considered an object.
[out]	surfaces_objects_vec	The vector of surfaces and the objects above each surface that were found.

Returns:: true if the segmentation was successful, false otherwise.

bool surface_perception::FindSurfaces	(	PointCloudC::Ptr	cloud,
		pcl::PointIndices::Ptr	indices,
		double	max_point_distance,
		double	horizontal_tolerance_degrees,
		int	min_surface_size,
		int	min_surface_exploration_iteration,
		std::vector< Surface > *	surfaces
	)

Definition at line 98 of file segmentation.cpp.

bool surface_perception::FindSurfaces	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointIndicesPtr	indices,
		double	max_point_distance,
		double	horizontal_tolerance_degrees,
		int	min_surface_size,
		int	min_surface_exploration_iteration,
		std::vector< Surface > *	surfaces
	)

Finds horizonal surfaces in the given point cloud.

Parameters:

[in]	cloud	The point cloud to find a surface in, where positive z points up.
[in]	indices	The indices in the point cloud to find a surface in.
[in]	max_point_distance	The maximum distance between a plane and a point, in order to be considered as part of a surface.
[in]	horizontal_tolerance_degrees	The tolerance, in degrees, for a surface to be considered horizontal.
[in]	min_surface_size	The required number of points for a surface.
[in]	min_surface_exploration_iteration	The required number of iteration for the surface exploration algorithm.
[out]	surfaces	The vector of detected surfaces (may be changed even if no surface is found).

Returns:: true if a surface was found, false otherwise.

bool surface_perception::FitBox	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	input,
		const pcl::PointIndicesPtr &	indices,
		const pcl::ModelCoefficients::Ptr &	model,
		geometry_msgs::Pose *	pose,
		geometry_msgs::Vector3 *	dimensions
	)

Fits an oriented bounding box around a given point cloud representing an object or a surface.

Note: this algorithm is adapted from the simple_grasping package.

Parameters:

[in]	input	The input point cloud to fit the box around.
[in]	indices	The indices in the input point cloud to use.
[in]	model	The model coefficients for the plane that the object is resting on. If fitting a box around a surface, use the surface's own coefficients.
[out]	pose	The pose representing the center of the box. The z direction points "up" relative to the surface. The x and y directions are aligned with the fitted box, with the x direction pointing toward the shorter side of the box.
[out]	dimensions	The dimensions of the oriented bounding box. x, y, and z correspond to the directions of the pose.

Returns:: reports true when a bounding box can be constructed for the object, or false if the construction fails.

bool surface_perception::FitBox	(	const PointCloudC::Ptr &	input,
		const pcl::PointIndices::Ptr &	indices,
		const pcl::ModelCoefficients::Ptr &	model,
		geometry_msgs::Pose *	pose,
		geometry_msgs::Vector3 *	dimensions
	)		`[static]`

Definition at line 109 of file shape_extraction.cpp.

bool surface_perception::FitBoxOnSurface	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	input,
		const pcl::PointIndicesPtr &	indices,
		const Surface &	surface,
		geometry_msgs::Pose *	pose,
		geometry_msgs::Vector3 *	dimensions
	)

Fits an oriented bounding box around a given point cloud representing an object resting on a surface.

Note: this algorithm is adapted from the simple_grasping package.

Parameters:

[in]	input	The input point cloud to fit the box around.
[in]	indices	The indices in the input point cloud to use.
[in]	surface	The surface that the object is resting on.
[out]	pose	The pose representing the center of the box. The z direction points "up" relative to the surface. The x and y directions are aligned with the fitted box, with the x direction pointing toward the shorter side of the box.
[out]	dimensions	The dimensions of the oriented bounding box. x, y, and z correspond to the directions of the pose.

Returns:: reports true when a bounding box can be constructed for the object, or false if the construction fails.

Definition at line 256 of file shape_extraction.cpp.

visualization_msgs::MarkerArray surface_perception::GetAxesMarkerArray	(	const std::string &	name_space,
		const std::string &	frame_id,
		const geometry_msgs::Pose &	pose,
		double	scale
	)

This helper function generates a marker array where axes are represented by three markers of colored cylinder bars.

Example usage:

   geometry_msgs::Pose pose;
   pose.position.x = pose.position.y = pose.position.z = 1.0;
   pose.orientation.x = pose.orientation.y = pose.orientation.z = 0.0;
   pose.orientation.w = 1.0;
   visualization_msgs::MarkerArray axes_markers =
       surface_perception::GetAxesMarkerArray("markers", "base_link", pose,
                       1.0);

Parameters:

[in]	name_space	The name space for the three markers to be created.
[in]	frame_id	The id of the frame where the markers will be.
[in]	pose	The pose of the origin where the three axes intersect.
[in]	scale	The length of each colored cylinder bars. The cylinder diameters are 10% of scale, or 1 cm if 10% scale is less than 1 cm.

Returns:: A MarkerArray of three Marker objects is returned where x-axis is a red cylinder, y-axis is a green cylinder and z-axis is a blue cylinder.

Definition at line 12 of file axes_marker.cpp.

bool surface_perception::GetSceneAboveSurface	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointIndices::Ptr	indices,
		const pcl::ModelCoefficients &	coefficients,
		double	margin_above_surface,
		float	height_limit,
		pcl::PointIndices::Ptr	above_surface_indices
	)

Definition at line 142 of file segmentation.cpp.

bool surface_perception::GetSceneAboveSurface	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointIndicesPtr	indices,
		const pcl::ModelCoefficients &	coefficients,
		double	margin_above_surface,
		float	height_limit,
		pcl::PointIndices::Ptr	above_surface_indices
	)

Extracts the part of the point cloud above a given surface.

Parameters:

[in]	cloud	The point cloud to find a surface in, where positive z points up.
[in]	indices	The indices in the point cloud to extract from.
[in]	coefficients	The coefficients of a plane representing a horizontal surface: ax + by + cz + d = 0, where a, b, c, and d are the first four coefficients.
[in]	margin_above_surface	The margin to extend above the surface plane, in meters.
[in]	height_limit	The maximum height of each surface scene. The height is defined as the distance from one plane to the plane above. If there's no plane above, then height_limit should be some value larger or equal to maximum point height in the input point cloud scene.
[out]	above_surface_indices	The indices in the given point cloud representing the points above the plane (and the margin above the plane).

Returns:: true if the plane model coefficients are valid and a non-zero number of points were found above the plane, false otherwise.

void surface_perception::ObjectMarkers	(	const std::vector< Object > &	objects,
		std::vector< visualization_msgs::Marker > *	markers
	)

Generates markers for the given objects. Does not set the namespaces or IDs.

Definition at line 54 of file visualization.cpp.

Eigen::Matrix3f surface_perception::StandardizeBoxOrientation	(	const Eigen::Matrix3f &	rotation_matrix,
		double	x_dim,
		double	y_dim,
		double *	updated_x_dim,
		double *	updated_y_dim
	)

Returns a standardized orientation for a box.

The standardized box orientation is defined as the following: 1. The x dimension of the box will be smaller than the y dimension of the box. 2. The x-axis of the box will point in the positive x direction. 3. The z-axis will point in the same direction as given, and the y-axis will be set according to the right hand rule.

Parameters:

[in]	rotaton_matrix	The given rotation matrix of the box on a plane. The z basis vector is assumed to be the same as the plane normal vector.
[in]	x_dimension	The current x dimension of the box.
[in]	y_dimension	The current y dimension of the box.
[out]	updated_x_dim	If the x basis vector and y basis vector are swapped, updated_x_dim will point to the value of y_dim. Otherwise, it points to the value of x_dim.
[out]	updated_y_dim	If the y basis vector and x basis vector are swapped, updated_y_dim will point to the value of x_dim. Otherwise, it points to the value of y_dim.

Returns:: A rotation matrix with the standardized box orientation is returned, based on the given rotation matrix and dimensions.

Definition at line 283 of file shape_extraction.cpp.

void surface_perception::SurfaceMarker	(	const Surface &	surface,
		visualization_msgs::Marker *	marker
	)

Generates a marker for the given surface. Does not set the namespace or ID.

Definition at line 44 of file visualization.cpp.

void surface_perception::SurfaceMarkers	(	const std::vector< SurfaceObjects > &	surfaces,
		std::vector< visualization_msgs::Marker > *	markers
	)

Generates markers for the given surfaces. Sets namespaces and IDs like: First surface: ns=surface, id=0 First object on first surface: ns=surface_0, id=0

Definition at line 69 of file visualization.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		IdentityMatrix
	)

Definition at line 13 of file rotation_matrix_test.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		IdentityMatrixRotate180DegreesAroundYAxis
	)

Definition at line 26 of file rotation_matrix_test.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		IdentityMatrixRotate45DegreesAroundZAxis
	)

Definition at line 48 of file rotation_matrix_test.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		IdentityMatrixRotate135DegreesAroundZAxis
	)

Definition at line 70 of file rotation_matrix_test.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		TiltedMatrix
	)

Definition at line 92 of file rotation_matrix_test.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		TiltedMatrixRotate180DegreesAroundYAxis
	)

Definition at line 114 of file rotation_matrix_test.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		IdentityMatrixWithXLongSideYShortSdie
	)

Definition at line 136 of file rotation_matrix_test.cpp.

surface_perception::TEST	(	TestStandardizeBoxOrientation	,
		TiltedMatrixWithXLongSideYShortSide
	)

Definition at line 158 of file rotation_matrix_test.cpp.

Variable Documentation

const double surface_perception::kLongSide = 2.0

Definition at line 10 of file rotation_matrix_test.cpp.

const double surface_perception::kShortSide = 1.0

Definition at line 11 of file rotation_matrix_test.cpp.

Classes

Functions

Variables

Function Documentation

Variable Documentation