Public Member Functions
void	cloud_cb (const sensor_msgs::PointCloud2::ConstPtr &msg)

void	computeCentroid (const sample_consensus::PointCloud &points, const std::vector< int > &indices, pcl::PointXYZ &centroid)
	Compute the centroid of a set of points using their indices and return it as a Point32 message. More...

void	computeCovarianceMatrix (const sample_consensus::PointCloud &points, const std::vector< int > &indices, Eigen::Matrix3d &covariance_matrix, pcl::PointXYZ &centroid)
	Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d. More...

void	computePointNormal (const sample_consensus::PointCloud &points, const std::vector< int > &indices, Eigen::Vector4d &plane_parameters, double &curvature)
	Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature. More...

bool	fitSACLine (sample_consensus::PointCloud points, vector< int > indices, vector< int > &inliers)
	Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods. More...

void	flipNormalTowardsViewpoint (Eigen::Vector4d &normal, const pcl::PointXYZ &point, const geometry_msgs::PointStamped &viewpoint)
	Flip (in place) the estimated normal of a point towards a given viewpoint. More...

void	getCloudViewPoint (string cloud_frame, geometry_msgs::PointStamped &viewpoint_cloud, tf::TransformListener *tf)
	Get the view point from where the scans were taken in the incoming sample_consensus::PointCloud message frame. More...

	IncGroundRemoval (ros::NodeHandle &anode)

double	pointToPlaneDistanceSigned (const pcl::PointXYZ &p, const Eigen::Vector4d &plane_coefficients)
	Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0. More...

double	transformDoubleValueTF (double val, std::string src_frame, std::string tgt_frame, ros::Time stamp, tf::TransformListener *tf)
	Transform a value from a source frame to a target frame at a certain moment in time with TF. More...

void	transformPoint (tf::TransformListener *tf, const std::string &target_frame, const tf::Stamped< pcl::PointXYZ > &stamped_in, tf::Stamped< pcl::PointXYZ > &stamped_out)
	Transform a given point from its current frame to a given target frame. More...

void	updateParametersFromServer ()

virtual	~IncGroundRemoval ()

Public Attributes
sample_consensus::PointCloud	cloud_

sample_consensus::PointCloud	cloud_noground_

tf::MessageFilter< sensor_msgs::PointCloud2 > *	cloud_notifier_

ros::Publisher	cloud_publisher_

message_filters::Subscriber< sensor_msgs::PointCloud2 > *	cloud_subscriber_

double	ground_slope_threshold_

sample_consensus::PointCloud	laser_cloud_

std::string	laser_tilt_mount_frame_

int	planar_refine_

std::string	robot_footprint_frame_

double	sac_distance_threshold_

double	sac_fitting_distance_threshold_

int	sac_max_iterations_

int	sac_min_points_per_model_

tf::TransformListener	tf_

geometry_msgs::PointStamped	viewpoint_cloud_

double	z_threshold_

Protected Attributes
ros::NodeHandle &	node_

Detailed Description

Definition at line 64 of file sac_inc_ground_removal_standalone.cpp.

Constructor & Destructor Documentation

IncGroundRemoval::IncGroundRemoval ( ros::NodeHandle & anode )

inline

Definition at line 90 of file sac_inc_ground_removal_standalone.cpp.

virtual IncGroundRemoval::~IncGroundRemoval ( )

inlinevirtual

Definition at line 133 of file sac_inc_ground_removal_standalone.cpp.

Member Function Documentation

void IncGroundRemoval::cloud_cb ( const sensor_msgs::PointCloud2::ConstPtr & msg )

inline

Definition at line 315 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computeCentroid	(	const sample_consensus::PointCloud &	points,
		const std::vector< int > &	indices,
		pcl::PointXYZ &	centroid
	)

inline

Compute the centroid of a set of points using their indices and return it as a Point32 message.

Parameters

points	the input point cloud
indices	the point cloud indices that need to be used
centroid	the output centroid

Definition at line 224 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computeCovarianceMatrix	(	const sample_consensus::PointCloud &	points,
		const std::vector< int > &	indices,
		Eigen::Matrix3d &	covariance_matrix,
		pcl::PointXYZ &	centroid
	)

inline

Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d.

Note: The (x-y-z) centroid is also returned as a Point32 message.

Parameters

points	the input point cloud
indices	the point cloud indices that need to be used
covariance_matrix	the 3x3 covariance matrix
centroid	the computed centroid

Definition at line 250 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::computePointNormal	(	const sample_consensus::PointCloud &	points,
		const std::vector< int > &	indices,
		Eigen::Vector4d &	plane_parameters,
		double &	curvature
	)

inline

Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.

Parameters

points	the input point cloud
indices	the point cloud indices that need to be used
plane_parameters	the plane parameters as: a, b, c, d (ax + by + cz + d = 0)
curvature	the estimated surface curvature as a measure of $\lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2)$

Definition at line 285 of file sac_inc_ground_removal_standalone.cpp.

bool IncGroundRemoval::fitSACLine	(	sample_consensus::PointCloud *	points,
		vector< int > *	indices,
		vector< int > &	inliers
	)

inline

Find a line model in a point cloud given via a set of point indices with SAmple Consensus methods.

Parameters

points	the point cloud message
indices	a pointer to a set of point cloud indices to test
inliers	the resultant inliers

Definition at line 152 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::flipNormalTowardsViewpoint	(	Eigen::Vector4d &	normal,
		const pcl::PointXYZ &	point,
		const geometry_msgs::PointStamped &	viewpoint
	)

inline

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters

normal	the plane normal to be flipped
point	a given point
viewpoint	the viewpoint

Definition at line 196 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::getCloudViewPoint	(	string	cloud_frame,
		geometry_msgs::PointStamped &	viewpoint_cloud,
		tf::TransformListener *	tf
	)

inline

Get the view point from where the scans were taken in the incoming sample_consensus::PointCloud message frame.

Parameters

cloud_frame	the point cloud message TF frame
viewpoint_cloud	the resultant view point in the incoming cloud frame
tf	a pointer to a TransformListener object

Definition at line 462 of file sac_inc_ground_removal_standalone.cpp.

double IncGroundRemoval::pointToPlaneDistanceSigned	(	const pcl::PointXYZ &	p,
		const Eigen::Vector4d &	plane_coefficients
	)

inline

Get the distance from a point to a plane (signed) defined by ax+by+cz+d=0.

Parameters

p	a point
plane_coefficients	the normalized coefficients (a, b, c, d) of a plane

Definition at line 450 of file sac_inc_ground_removal_standalone.cpp.

double IncGroundRemoval::transformDoubleValueTF	(	double	val,
		std::string	src_frame,
		std::string	tgt_frame,
		ros::Time	stamp,
		tf::TransformListener *	tf
	)

inline

Transform a value from a source frame to a target frame at a certain moment in time with TF.

Parameters

val	the value to transform
src_frame	the source frame to transform the value from
tgt_frame	the target frame to transform the value into
stamp	a given time stamp
tf	a pointer to a TransformListener object

Definition at line 530 of file sac_inc_ground_removal_standalone.cpp.

void IncGroundRemoval::transformPoint	(	tf::TransformListener *	tf,
		const std::string &	target_frame,
		const tf::Stamped< pcl::PointXYZ > &	stamped_in,
		tf::Stamped< pcl::PointXYZ > &	stamped_out
	)