Public Member Functions | Private Attributes
simple_grasping::ObjectSupportSegmentation Class Reference

Class that segments a point cloud into objects and supporting surfaces. More...

#include <object_support_segmentation.h>

List of all members.

Public Member Functions

 ObjectSupportSegmentation (ros::NodeHandle &nh)
 Constructor, loads pipeline using ROS parameters.
bool segment (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, std::vector< grasping_msgs::Object > &objects, std::vector< grasping_msgs::Object > &supports, pcl::PointCloud< pcl::PointXYZRGB > &object_cloud, pcl::PointCloud< pcl::PointXYZRGB > &support_cloud, bool output_clouds)
 Split a cloud into objects and supporting surfaces.

Private Attributes

pcl::EuclideanClusterExtraction
< pcl::PointXYZRGB > 
extract_clusters_
pcl::ExtractIndices
< pcl::PointXYZRGB > 
extract_indices_
pcl::SACSegmentation
< pcl::PointXYZRGB > 
segment_
pcl::VoxelGrid< pcl::PointXYZRGB > voxel_grid_

Detailed Description

Class that segments a point cloud into objects and supporting surfaces.

Definition at line 51 of file object_support_segmentation.h.


Constructor & Destructor Documentation

Constructor, loads pipeline using ROS parameters.

Parameters:
nhNode handle to use for accessing parameters.

Definition at line 43 of file object_support_segmentation.cpp.


Member Function Documentation

bool simple_grasping::ObjectSupportSegmentation::segment ( const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &  cloud,
std::vector< grasping_msgs::Object > &  objects,
std::vector< grasping_msgs::Object > &  supports,
pcl::PointCloud< pcl::PointXYZRGB > &  object_cloud,
pcl::PointCloud< pcl::PointXYZRGB > &  support_cloud,
bool  output_clouds 
)

Split a cloud into objects and supporting surfaces.

Parameters:
cloudThe point cloud to segment. This cloud should already be transformed into a coordinate frame where XY plane is horizontal.
objectsThe vector to fill in with objects found.
supportsThe vector to fill in with support surfaces found.
object_cloudA colored cloud of objects found (if output_clouds).
support_cloudA colored cloud of supports found (if output_clouds).

Definition at line 75 of file object_support_segmentation.cpp.


Member Data Documentation

Definition at line 80 of file object_support_segmentation.h.

Definition at line 81 of file object_support_segmentation.h.

Definition at line 79 of file object_support_segmentation.h.

Definition at line 78 of file object_support_segmentation.h.


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


simple_grasping
Author(s): Michael Ferguson
autogenerated on Fri Aug 26 2016 13:17:24