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

Public Member Functions
	ObjectSupportSegmentation (ros::NodeHandle &nh)
	Constructor, loads pipeline using ROS parameters. More...

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. More...

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.

Constructor & Destructor Documentation

simple_grasping::ObjectSupportSegmentation::ObjectSupportSegmentation ( ros::NodeHandle & nh )

Constructor, loads pipeline using ROS parameters.

Parameters

nh	Node handle to use for accessing parameters.

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

cloud	The point cloud to segment. This cloud should already be transformed into a coordinate frame where XY plane is horizontal.
objects	The vector to fill in with objects found.
supports	The vector to fill in with support surfaces found.
object_cloud	A colored cloud of objects found (if output_clouds).
support_cloud	A colored cloud of supports found (if output_clouds).

pcl::EuclideanClusterExtraction<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::extract_clusters_

private

pcl::ExtractIndices<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::extract_indices_

private

pcl::SACSegmentation<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::segment_

private

pcl::VoxelGrid<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::voxel_grid_

private

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