#include <edgebased_cube_finder.h>

Inheritance diagram for jsk_pcl_ros::CubeHypothesis:

Public Types
typedef boost::shared_ptr< CubeHypothesis >	Ptr

Public Member Functions
virtual jsk_recognition_utils::PointPair	computeAxisEndPoints (const jsk_recognition_utils::Line &axis, const jsk_recognition_utils::PointPair &a_candidates, const jsk_recognition_utils::PointPair &b_candidates)

	CubeHypothesis (const IndicesPair &pair, const CoefficientsPair &coefficients_pair, const double outlier_threshold)

virtual void	estimate (const pcl::PointCloud< pcl::PointXYZRGB > &cloud)=0

virtual double	evaluatePointOnPlanes (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, jsk_recognition_utils::ConvexPolygon &polygon_a, jsk_recognition_utils::ConvexPolygon &polygon_b)

virtual jsk_recognition_utils::Cube::Ptr	getCube ()

virtual double	getValue ()

virtual	~CubeHypothesis ()

Protected Member Functions
virtual jsk_recognition_utils::ConvexPolygon::Ptr	buildConvexPolygon (const jsk_recognition_utils::PointPair &a_edge_pair, const jsk_recognition_utils::PointPair &b_edge_pair)

virtual void	computeCentroid (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointIndices::Ptr &indices, Eigen::Vector3f &output)

virtual void	getLinePoints (const jsk_recognition_utils::Line &line, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointIndices::Ptr indices, jsk_recognition_utils::Vertices &output)

Protected Attributes
const CoefficientsPair	coefficients_pair_

jsk_recognition_utils::Cube::Ptr	cube_

const IndicesPair	indices_pair_

double	outlier_threshold_

double	value_

Detailed Description

Definition at line 83 of file edgebased_cube_finder.h.

Member Typedef Documentation

typedef boost::shared_ptr<CubeHypothesis> jsk_pcl_ros::CubeHypothesis::Ptr

Definition at line 86 of file edgebased_cube_finder.h.

Constructor & Destructor Documentation

jsk_pcl_ros::CubeHypothesis::CubeHypothesis	(	const IndicesPair &	pair,
		const CoefficientsPair &	coefficients_pair,
		const double	outlier_threshold
	)

Definition at line 57 of file edgebased_cube_finder_nodelet.cpp.

jsk_pcl_ros::CubeHypothesis::~CubeHypothesis ( )

virtual

Definition at line 66 of file edgebased_cube_finder_nodelet.cpp.

Member Function Documentation

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::CubeHypothesis::buildConvexPolygon	(	const jsk_recognition_utils::PointPair &	a_edge_pair,
		const jsk_recognition_utils::PointPair &	b_edge_pair
	)

protectedvirtual

Definition at line 107 of file edgebased_cube_finder_nodelet.cpp.

jsk_recognition_utils::PointPair jsk_pcl_ros::CubeHypothesis::computeAxisEndPoints	(	const jsk_recognition_utils::Line &	axis,
		const jsk_recognition_utils::PointPair &	a_candidates,
		const jsk_recognition_utils::PointPair &	b_candidates
	)

virtual

Definition at line 143 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::CubeHypothesis::computeCentroid	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::PointIndices::Ptr &	indices,
		Eigen::Vector3f &	output
	)

protectedvirtual

Definition at line 70 of file edgebased_cube_finder_nodelet.cpp.

virtual void jsk_pcl_ros::CubeHypothesis::estimate ( const pcl::PointCloud< pcl::PointXYZRGB > & cloud )

pure virtual

Implemented in jsk_pcl_ros::DiagnoalCubeHypothesis, and jsk_pcl_ros::PlanarCubeHypothesis.

double jsk_pcl_ros::CubeHypothesis::evaluatePointOnPlanes	(	const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		jsk_recognition_utils::ConvexPolygon &	polygon_a,
		jsk_recognition_utils::ConvexPolygon &	polygon_b
	)

virtual

Definition at line 119 of file edgebased_cube_finder_nodelet.cpp.

virtual jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::CubeHypothesis::getCube ( )

inlinevirtual

Definition at line 92 of file edgebased_cube_finder.h.

void jsk_pcl_ros::CubeHypothesis::getLinePoints	(	const jsk_recognition_utils::Line &	line,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		const pcl::PointIndices::Ptr	indices,
		jsk_recognition_utils::Vertices &	output
	)

protectedvirtual

Definition at line 86 of file edgebased_cube_finder_nodelet.cpp.

virtual double jsk_pcl_ros::CubeHypothesis::getValue ( )

inlinevirtual

Definition at line 91 of file edgebased_cube_finder.h.

Member Data Documentation

const CoefficientsPair jsk_pcl_ros::CubeHypothesis::coefficients_pair_

protected

Definition at line 122 of file edgebased_cube_finder.h.

jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::CubeHypothesis::cube_

protected

Definition at line 124 of file edgebased_cube_finder.h.

const IndicesPair jsk_pcl_ros::CubeHypothesis::indices_pair_

protected

Definition at line 121 of file edgebased_cube_finder.h.

double jsk_pcl_ros::CubeHypothesis::outlier_threshold_

protected

Definition at line 123 of file edgebased_cube_finder.h.

double jsk_pcl_ros::CubeHypothesis::value_

protected

Definition at line 120 of file edgebased_cube_finder.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation