Grid based representation of planar region. More...

#include <grid_plane.h>

Public Types
typedef boost::tuple< int, int >	IndexPair

typedef std::set< IndexPair >	IndexPairSet

typedef boost::shared_ptr< GridPlane >	Ptr

Public Member Functions
virtual void	addIndexPair (IndexPair pair)
	Add IndexPair to this instance. More...

virtual GridPlane::Ptr	clone ()

virtual GridPlane::Ptr	dilate (int num)
	Dilate grid cells with specified number of pixels. More...

virtual GridPlane::Ptr	erode (int num)
	Erode grid cells with specified number of pixels. More...

virtual void	fillCellsFromCube (Cube &cube)

virtual size_t	fillCellsFromPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, double distance_threshold)

virtual size_t	fillCellsFromPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, double distance_threshold, double normal_threshold, std::set< int > &non_plane_indices)

virtual size_t	fillCellsFromPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, double distance_threshold, std::set< int > &non_plane_indices)

virtual ConvexPolygon::Ptr	getPolygon ()
	return ConvexPolygon pointer of this instance. More...

virtual double	getResolution ()

	GridPlane (ConvexPolygon::Ptr plane, const double resolution)

virtual bool	isOccupied (const Eigen::Vector3f &p)
	p should be local coordinate More...

virtual bool	isOccupied (const IndexPair &pair)

virtual bool	isOccupiedGlobal (const Eigen::Vector3f &p)
	p should be global coordinate More...

virtual IndexPair	projectLocalPointAsIndexPair (const Eigen::Vector3f &p)
	Project 3-D point to GridPlane::IndexPair. p should be represented in local coordinates. More...

virtual jsk_recognition_msgs::SimpleOccupancyGrid	toROSMsg ()

virtual Eigen::Vector3f	unprojectIndexPairAsGlobalPoint (const IndexPair &pair)
	Unproject GridPlane::IndexPair to 3-D global point. More...

virtual Eigen::Vector3f	unprojectIndexPairAsLocalPoint (const IndexPair &pair)
	Unproject GridPlane::IndexPair to 3-D local point. More...

virtual	~GridPlane ()

Static Public Member Functions
static GridPlane	fromROSMsg (const jsk_recognition_msgs::SimpleOccupancyGrid &rosmsg, const Eigen::Affine3f &offset)
	Construct GridPlane object from jsk_recognition_msgs::SimpleOccupancyGrid. More...

Protected Attributes
IndexPairSet	cells_

ConvexPolygon::Ptr	convex_

double	resolution_

Detailed Description

Grid based representation of planar region.

Each cell represents a square region as belows: +-----—+ | | | + | | | +-----—+

The width and height of the cell is equivalent to resolution_, and the value of cells_ represents a center point. (i, j) means rectanglar region of (x, y) which satisfies followings: i * resolution - 0.5 * resolution <= x < i * resolution + 0.5 * resolution j * resolution - 0.5 * resolution <= y < j * resolution + 0.5 * resolution

Definition at line 105 of file grid_plane.h.

Member Typedef Documentation

◆ IndexPair

typedef boost::tuple<int, int> jsk_recognition_utils::GridPlane::IndexPair

Definition at line 141 of file grid_plane.h.

◆ IndexPairSet

typedef std::set<IndexPair> jsk_recognition_utils::GridPlane::IndexPairSet

Definition at line 142 of file grid_plane.h.

◆ Ptr

typedef boost::shared_ptr<GridPlane> jsk_recognition_utils::GridPlane::Ptr

Definition at line 140 of file grid_plane.h.

Constructor & Destructor Documentation

◆ GridPlane()

jsk_recognition_utils::GridPlane::GridPlane	(	ConvexPolygon::Ptr	plane,
		const double	resolution
	)

Definition at line 43 of file grid_plane.cpp.

◆ ~GridPlane()

jsk_recognition_utils::GridPlane::~GridPlane ( )

virtual

Definition at line 49 of file grid_plane.cpp.

Member Function Documentation

◆ addIndexPair()

void jsk_recognition_utils::GridPlane::addIndexPair ( IndexPair pair )

virtual

Add IndexPair to this instance.

Definition at line 65 of file grid_plane.cpp.

◆ clone()

GridPlane::Ptr jsk_recognition_utils::GridPlane::clone ( )

virtual

Definition at line 144 of file grid_plane.cpp.

◆ dilate()

GridPlane::Ptr jsk_recognition_utils::GridPlane::dilate ( int num )

virtual

Dilate grid cells with specified number of pixels.

Definition at line 70 of file grid_plane.cpp.

◆ erode()

GridPlane::Ptr jsk_recognition_utils::GridPlane::erode ( int num )

virtual

Erode grid cells with specified number of pixels.

Definition at line 91 of file grid_plane.cpp.

◆ fillCellsFromCube()

void jsk_recognition_utils::GridPlane::fillCellsFromCube ( Cube & cube )

virtual

Definition at line 166 of file grid_plane.cpp.

◆ fillCellsFromPointCloud() [1/3]

size_t jsk_recognition_utils::GridPlane::fillCellsFromPointCloud	(	pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		double	distance_threshold
	)

virtual

Definition at line 288 of file grid_plane.cpp.

◆ fillCellsFromPointCloud() [2/3]

size_t jsk_recognition_utils::GridPlane::fillCellsFromPointCloud	(	pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		double	distance_threshold,
		double	normal_threshold,
		std::set< int > &	non_plane_indices
	)

virtual

Definition at line 227 of file grid_plane.cpp.

◆ fillCellsFromPointCloud() [3/3]

size_t jsk_recognition_utils::GridPlane::fillCellsFromPointCloud	(	pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		double	distance_threshold,
		std::set< int > &	non_plane_indices
	)

virtual

Definition at line 218 of file grid_plane.cpp.

◆ fromROSMsg()

GridPlane jsk_recognition_utils::GridPlane::fromROSMsg	(	const jsk_recognition_msgs::SimpleOccupancyGrid &	rosmsg,
		const Eigen::Affine3f &	offset = `Eigen::Affine3f::Identity()`
	)

static

Construct GridPlane object from jsk_recognition_msgs::SimpleOccupancyGrid.

Definition at line 320 of file grid_plane.cpp.

◆ getPolygon()

virtual ConvexPolygon::Ptr jsk_recognition_utils::GridPlane::getPolygon ( )

inlinevirtual

return ConvexPolygon pointer of this instance.

Definition at line 218 of file grid_plane.h.

◆ getResolution()

virtual double jsk_recognition_utils::GridPlane::getResolution ( )

inlinevirtual

Definition at line 159 of file grid_plane.h.

◆ isOccupied() [1/2]

bool jsk_recognition_utils::GridPlane::isOccupied ( const Eigen::Vector3f & p )

virtual

p should be local coordinate

Definition at line 133 of file grid_plane.cpp.

◆ isOccupied() [2/2]

bool jsk_recognition_utils::GridPlane::isOccupied ( const IndexPair & pair )

virtual

Definition at line 118 of file grid_plane.cpp.

◆ isOccupiedGlobal()

bool jsk_recognition_utils::GridPlane::isOccupiedGlobal ( const Eigen::Vector3f & p )

virtual

p should be global coordinate

Definition at line 139 of file grid_plane.cpp.

◆ projectLocalPointAsIndexPair()

GridPlane::IndexPair jsk_recognition_utils::GridPlane::projectLocalPointAsIndexPair ( const Eigen::Vector3f & p )

virtual

Project 3-D point to GridPlane::IndexPair. p should be represented in local coordinates.

Definition at line 54 of file grid_plane.cpp.

◆ toROSMsg()

jsk_recognition_msgs::SimpleOccupancyGrid jsk_recognition_utils::GridPlane::toROSMsg ( )

virtual

Definition at line 296 of file grid_plane.cpp.

◆ unprojectIndexPairAsGlobalPoint()

Eigen::Vector3f jsk_recognition_utils::GridPlane::unprojectIndexPairAsGlobalPoint ( const IndexPair & pair )

virtual

Unproject GridPlane::IndexPair to 3-D global point.

Definition at line 159 of file grid_plane.cpp.

◆ unprojectIndexPairAsLocalPoint()

Eigen::Vector3f jsk_recognition_utils::GridPlane::unprojectIndexPairAsLocalPoint ( const IndexPair & pair )

virtual

Unproject GridPlane::IndexPair to 3-D local point.

Definition at line 151 of file grid_plane.cpp.

Member Data Documentation

◆ cells_

IndexPairSet jsk_recognition_utils::GridPlane::cells_

protected

Definition at line 227 of file grid_plane.h.

◆ convex_

ConvexPolygon::Ptr jsk_recognition_utils::GridPlane::convex_

protected

Definition at line 226 of file grid_plane.h.

◆ resolution_

double jsk_recognition_utils::GridPlane::resolution_

protected

Definition at line 228 of file grid_plane.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ IndexPair

◆ IndexPairSet

◆ Ptr

Constructor & Destructor Documentation

◆ GridPlane()

◆ ~GridPlane()

Member Function Documentation

◆ addIndexPair()

◆ clone()

◆ dilate()

◆ erode()

◆ fillCellsFromCube()

◆ fillCellsFromPointCloud() [1/3]

◆ fillCellsFromPointCloud() [2/3]

◆ fillCellsFromPointCloud() [3/3]

◆ fromROSMsg()

◆ getPolygon()

◆ getResolution()

◆ isOccupied() [1/2]

◆ isOccupied() [2/2]

◆ isOccupiedGlobal()

◆ projectLocalPointAsIndexPair()

◆ toROSMsg()

◆ unprojectIndexPairAsGlobalPoint()

◆ unprojectIndexPairAsLocalPoint()

Member Data Documentation

◆ cells_

◆ convex_

◆ resolution_