Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
hector_stair_detection::HectorStairDetection Class Reference

#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

Definition at line 789 of file hector_stair_detection.cpp.

Member Data Documentation

ros::Publisher hector_stair_detection::HectorStairDetection::border_and_orientation_stairs_combined_pub_
protected

Definition at line 71 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::border_of_stairs_pub_
protected

Definition at line 69 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::cloud_after_plane_detection_debug_pub_
protected

Definition at line 73 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::clusterHeightTresh_
private

Definition at line 96 of file hector_stair_detection.h.

int hector_stair_detection::HectorStairDetection::clusterMaxSize_
private

Definition at line 100 of file hector_stair_detection.h.

int hector_stair_detection::HectorStairDetection::clusterMinSize_
private

Definition at line 99 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::clusterTolerance_
private

Definition at line 98 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::distanceToLineTresh_
private

Definition at line 93 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::distTrashSegmentation_
private

Definition at line 102 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::final_stairs_cloud_pub_
protected

Definition at line 68 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::hesseTresh_
private

Definition at line 107 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::line_marker_pub_
protected

Definition at line 74 of file hector_stair_detection.h.

tf::TransformListener hector_stair_detection::HectorStairDetection::listener_
protected

Definition at line 82 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::maxClusterXYDimension_
private

Definition at line 97 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::maxDistBetweenStairsPoints_
private

Definition at line 103 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::minHightDistBetweenAllStairsPoints_
private

Definition at line 104 of file hector_stair_detection.h.

int hector_stair_detection::HectorStairDetection::minRequiredPointsOnLine_
private

Definition at line 92 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::passThroughZMax_
private

Definition at line 88 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::passThroughZMin_
private

Definition at line 87 of file hector_stair_detection.h.

ros::Subscriber hector_stair_detection::HectorStairDetection::pcl_sub
protected

Definition at line 81 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::planeSegAngleEps_
private

Definition at line 106 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::planeSegDistTresh_
private

Definition at line 105 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::points_on_line_cloud_debug_
protected

Definition at line 66 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::possible_stairs_cloud_pub_
protected

Definition at line 65 of file hector_stair_detection.h.

bool hector_stair_detection::HectorStairDetection::refineSurfaceRequired_
private

Definition at line 94 of file hector_stair_detection.h.

std::string hector_stair_detection::HectorStairDetection::setup_
private

Definition at line 101 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::stairs_position_and_orientaion_pub_
protected

Definition at line 70 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::stairs_position_and_orientaion_with_direction_pub_
protected

Definition at line 72 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::surfaceCloud_pub_debug_
protected

Definition at line 67 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::temp_after_mls_pub_
protected

Definition at line 79 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::temp_after_pass_trough_pub_
protected

Definition at line 77 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::temp_after_voxel_grid_pub_
protected

Definition at line 78 of file hector_stair_detection.h.

ros::Publisher hector_stair_detection::HectorStairDetection::temp_orginal_pub_
protected

Definition at line 76 of file hector_stair_detection.h.

Eigen::Affine3d hector_stair_detection::HectorStairDetection::to_map_
protected

Definition at line 83 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::voxelGridX_
private

Definition at line 89 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::voxelGridY_
private

Definition at line 90 of file hector_stair_detection.h.

double hector_stair_detection::HectorStairDetection::voxelGridZ_
private

Definition at line 91 of file hector_stair_detection.h.

std::string hector_stair_detection::HectorStairDetection::worldFrame_
private

Definition at line 95 of file hector_stair_detection.h.

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

hector_stair_detection
Author(s):
autogenerated on Mon Jun 10 2019 13:36:41