#include <hector_stair_detection.h>

Public Member Functions
	HectorStairDetection ()
void	PclCallback (const sensor_msgs::PointCloud2::ConstPtr &pc_msg)
virtual	~HectorStairDetection ()
Protected Attributes
ros::Publisher	border_and_orientation_stairs_combined_pub_
ros::Publisher	border_of_stairs_pub_
ros::Publisher	cloud_after_plane_detection_debug_pub_
ros::Publisher	final_stairs_cloud_pub_
ros::Publisher	line_marker_pub_
tf::TransformListener	listener_
ros::Subscriber	pcl_sub
ros::Publisher	points_on_line_cloud_debug_
ros::Publisher	possible_stairs_cloud_pub_
ros::Publisher	stairs_position_and_orientaion_pub_
ros::Publisher	stairs_position_and_orientaion_with_direction_pub_
ros::Publisher	surfaceCloud_pub_debug_
ros::Publisher	temp_after_mls_pub_
ros::Publisher	temp_after_pass_trough_pub_
ros::Publisher	temp_after_voxel_grid_pub_
ros::Publisher	temp_orginal_pub_
Eigen::Affine3d	to_map_
Private Member Functions
bool	checkExtentionDirection (Eigen::Vector2f directionStairs, Eigen::Vector2f directionExtend)
void	getFinalStairsCloud_and_position (std::string frameID, Eigen::Vector3f directionS, pcl::PointCloud< pcl::PointNormal >::Ptr &input_surface_cloud, pcl::PointCloud< pcl::PointXYZ >::Ptr &planeCloud, pcl::IndicesClustersPtr cluster_indices, std::vector< int > final_cluster_idx, pcl::PointCloud< pcl::PointXYZ >::Ptr &final_stairsCloud, visualization_msgs::MarkerArray &stairs_boarder_marker, Eigen::Vector3f base)
void	getPreprocessedCloud (pcl::PointCloud< pcl::PointXYZ >::Ptr &input_cloud, pcl::PointCloud< pcl::PointNormal >::Ptr &output_cloud)
void	getStairsPositionAndOrientation (Eigen::Vector3f &base, Eigen::Vector3f point, std::string frameID, Eigen::Vector3f &direction, geometry_msgs::PoseStamped &position_and_orientaion)
int	getZComponent (Eigen::Vector2f directionStairs, Eigen::Vector2f minXminY, Eigen::Vector2f maxXminY, Eigen::Vector2f minXmaxY)
float	maxDistBetweenPoints (pcl::PointCloud< pcl::PointXYZI >::Ptr input_cloud)
float	minHightDistBetweenPoints (pcl::PointCloud< pcl::PointXYZI >::Ptr input_cloud)
bool	pointInCloud (pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, pcl::PointXYZ point)
void	projectStairsToFloor (Eigen::Vector3f direction, visualization_msgs::MarkerArray &stairs_boarder_marker)
void	publishResults (pcl::PointCloud< pcl::PointNormal >::Ptr &input_surface_cloud, pcl::PointCloud< pcl::PointXYZ >::Ptr &planeCloud, pcl::IndicesClustersPtr cluster_indices, std::vector< int > final_cluster_idx, Eigen::Vector3f base, Eigen::Vector3f point)
void	refineOrientaion (Eigen::Vector2f directionStairs, Eigen::Vector2f minXminY, Eigen::Vector2f maxXminY, Eigen::Vector2f minXmaxY, geometry_msgs::PoseStamped &position_and_orientaion)
void	stairsSreachPlaneDetection (pcl::PointCloud< pcl::PointNormal >::Ptr &input_surface_cloud, pcl::PointCloud< pcl::PointXYZI >::Ptr points_on_line, Eigen::Vector3f base, Eigen::Vector3f dir, pcl::PointCloud< pcl::PointXYZ >::Ptr &planeCloud)
Private Attributes
double	clusterHeightTresh_
int	clusterMaxSize_
int	clusterMinSize_
double	clusterTolerance_
double	distanceToLineTresh_
double	distTrashSegmentation_
double	hesseTresh_
double	maxClusterXYDimension_
double	maxDistBetweenStairsPoints_
double	minHightDistBetweenAllStairsPoints_
int	minRequiredPointsOnLine_
double	passThroughZMax_
double	passThroughZMin_
double	planeSegAngleEps_
double	planeSegDistTresh_
bool	refineSurfaceRequired_
std::string	setup_
double	voxelGridX_
double	voxelGridY_
double	voxelGridZ_
std::string	worldFrame_

Detailed Description

Definition at line 57 of file hector_stair_detection.h.

Constructor & Destructor Documentation

hector_stair_detection::HectorStairDetection::HectorStairDetection ( )

Definition at line 5 of file hector_stair_detection.cpp.

hector_stair_detection::HectorStairDetection::~HectorStairDetection ( ) [virtual]

Definition at line 79 of file hector_stair_detection.cpp.

Member Function Documentation

bool hector_stair_detection::HectorStairDetection::checkExtentionDirection	(	Eigen::Vector2f	directionStairs,
		Eigen::Vector2f	directionExtend
	)		`[private]`

void hector_stair_detection::HectorStairDetection::getFinalStairsCloud_and_position	(	std::string	frameID,
		Eigen::Vector3f	directionS,
		pcl::PointCloud< pcl::PointNormal >::Ptr &	input_surface_cloud,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	planeCloud,
		pcl::IndicesClustersPtr	cluster_indices,
		std::vector< int >	final_cluster_idx,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	final_stairsCloud,
		visualization_msgs::MarkerArray &	stairs_boarder_marker,
		Eigen::Vector3f	base
	)		`[private]`

Definition at line 151 of file hector_stair_detection.cpp.

void hector_stair_detection::HectorStairDetection::getPreprocessedCloud	(	pcl::PointCloud< pcl::PointXYZ >::Ptr &	input_cloud,
		pcl::PointCloud< pcl::PointNormal >::Ptr &	output_cloud
	)		`[private]`

Definition at line 379 of file hector_stair_detection.cpp.

void hector_stair_detection::HectorStairDetection::getStairsPositionAndOrientation	(	Eigen::Vector3f &	base,
		Eigen::Vector3f	point,
		std::string	frameID,
		Eigen::Vector3f &	direction,
		geometry_msgs::PoseStamped &	position_and_orientaion
	)		`[private]`

Definition at line 127 of file hector_stair_detection.cpp.

int hector_stair_detection::HectorStairDetection::getZComponent	(	Eigen::Vector2f	directionStairs,
		Eigen::Vector2f	minXminY,
		Eigen::Vector2f	maxXminY,
		Eigen::Vector2f	minXmaxY
	)		`[private]`

Definition at line 346 of file hector_stair_detection.cpp.

float hector_stair_detection::HectorStairDetection::maxDistBetweenPoints ( pcl::PointCloud< pcl::PointXYZI >::Ptr input_cloud ) [private]

Definition at line 920 of file hector_stair_detection.cpp.

float hector_stair_detection::HectorStairDetection::minHightDistBetweenPoints ( pcl::PointCloud< pcl::PointXYZI >::Ptr input_cloud ) [private]

Definition at line 934 of file hector_stair_detection.cpp.

void hector_stair_detection::HectorStairDetection::PclCallback ( const sensor_msgs::PointCloud2::ConstPtr & pc_msg )

Definition at line 465 of file hector_stair_detection.cpp.

bool hector_stair_detection::HectorStairDetection::pointInCloud	(	pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud,
		pcl::PointXYZ	point
	)		`[private]`

void hector_stair_detection::HectorStairDetection::projectStairsToFloor	(	Eigen::Vector3f	direction,
		visualization_msgs::MarkerArray &	stairs_boarder_marker
	)		`[private]`

Definition at line 318 of file hector_stair_detection.cpp.

void hector_stair_detection::HectorStairDetection::publishResults	(	pcl::PointCloud< pcl::PointNormal >::Ptr &	input_surface_cloud,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	planeCloud,
		pcl::IndicesClustersPtr	cluster_indices,
		std::vector< int >	final_cluster_idx,
		Eigen::Vector3f	base,
		Eigen::Vector3f	point
	)		`[private]`

Definition at line 82 of file hector_stair_detection.cpp.

void hector_stair_detection::HectorStairDetection::refineOrientaion	(	Eigen::Vector2f	directionStairs,
		Eigen::Vector2f	minXminY,
		Eigen::Vector2f	maxXminY,
		Eigen::Vector2f	minXmaxY,
		geometry_msgs::PoseStamped &	position_and_orientaion
	)		`[private]`

void hector_stair_detection::HectorStairDetection::stairsSreachPlaneDetection	(	pcl::PointCloud< pcl::PointNormal >::Ptr &	input_surface_cloud,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	points_on_line,
		Eigen::Vector3f	base,
		Eigen::Vector3f	dir,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	planeCloud
	)		`[private]`