Finds the largest plane in a point cloud. More...

#include <plane_finder.h>

Inheritance diagram for robot_calibration::PlaneFinder:

Public Member Functions
virtual bool	find (robot_calibration_msgs::CalibrationData *msg)
	Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in. More...

virtual bool	init (const std::string &name, ros::NodeHandle &n)
	Initialize the feature finder. More...

	PlaneFinder ()

virtual	~PlaneFinder ()=default

Public Member Functions inherited from robot_calibration::FeatureFinder
	FeatureFinder ()

std::string	getName ()
	Get the name of this feature finder. More...

virtual	~FeatureFinder ()

Protected Member Functions
virtual void	cameraCallback (const sensor_msgs::PointCloud2 &cloud)
	ROS callback - updates cloud_ and resets waiting_ to false. More...

virtual void	extractObservation (const std::string &sensor_name, const sensor_msgs::PointCloud2 &cloud, robot_calibration_msgs::CalibrationData msg, ros::Publisher publisher)
	Extract points from a cloud into a calibration message. More...

virtual sensor_msgs::PointCloud2	extractPlane (sensor_msgs::PointCloud2 &cloud)
	Extract a plane from the point cloud. More...

virtual void	removeInvalidPoints (sensor_msgs::PointCloud2 &cloud, double min_x, double max_x, double min_y, double max_y, double min_z, double max_z)
	Remove invalid points from a cloud. More...

virtual bool	waitForCloud ()
	Wait until a new cloud has arrived. More...

Protected Attributes
sensor_msgs::PointCloud2	cloud_

double	cos_normal_angle_

DepthCameraInfoManager	depth_camera_manager_

Eigen::Vector3d	desired_normal_

double	initial_sampling_distance_

double	max_x_

double	max_y_

double	max_z_

double	min_x_

double	min_y_

double	min_z_

bool	output_debug_

std::string	plane_sensor_name_

double	plane_tolerance_

int	points_max_

ros::Publisher	publisher_

int	ransac_iterations_

int	ransac_points_

ros::Subscriber	subscriber_

tf2_ros::Buffer	tf_buffer_

tf2_ros::TransformListener	tf_listener_

std::string	transform_frame_

bool	waiting_

Detailed Description

Finds the largest plane in a point cloud.

Definition at line 34 of file plane_finder.h.

Constructor & Destructor Documentation

◆ PlaneFinder()

robot_calibration::PlaneFinder::PlaneFinder ( )

Definition at line 91 of file plane_finder.cpp.

◆ ~PlaneFinder()

virtual robot_calibration::PlaneFinder::~PlaneFinder ( )

virtualdefault

Member Function Documentation

◆ cameraCallback()

void robot_calibration::PlaneFinder::cameraCallback ( const sensor_msgs::PointCloud2 & cloud )

protectedvirtual

ROS callback - updates cloud_ and resets waiting_ to false.

Definition at line 165 of file plane_finder.cpp.

◆ extractObservation()

void robot_calibration::PlaneFinder::extractObservation	(	const std::string &	sensor_name,
		const sensor_msgs::PointCloud2 &	cloud,
		robot_calibration_msgs::CalibrationData *	msg,
		ros::Publisher *	publisher
	)

protectedvirtual

Extract points from a cloud into a calibration message.

Parameters

sensor_name	Used to fill in observation "sensor_name"
cloud	Point cloud from which to extract observations
msg	CalibrationData to fill with observation
publisher	Optional pointer to publish the observations as a cloud

Definition at line 424 of file plane_finder.cpp.

◆ extractPlane()

sensor_msgs::PointCloud2 robot_calibration::PlaneFinder::extractPlane ( sensor_msgs::PointCloud2 & cloud )

protectedvirtual

Extract a plane from the point cloud.

cloud The cloud to extract plane from - non-plane points will remain

Returns: New point cloud comprising only the points in the plane

Definition at line 280 of file plane_finder.cpp.

◆ find()

bool robot_calibration::PlaneFinder::find ( robot_calibration_msgs::CalibrationData * msg )

virtual

Once the robot has been moved into the proper position and settled, this function will be called. It should add any new observations to the msg passed in.

Parameters

msg	The message to which observations should be added.

Returns: True if feature finder succeeded in finding the features and adding them to the observation list. False otherwise.

Implements robot_calibration::FeatureFinder.

Reimplemented in robot_calibration::RobotFinder.

Definition at line 194 of file plane_finder.cpp.

◆ init()

bool robot_calibration::PlaneFinder::init	(	const std::string &	name,
		ros::NodeHandle &	nh
	)

virtual

Initialize the feature finder.

Parameters

name	The name of this finder.
nh	The nodehandle to use when loading feature finder configuration data.

Returns: True/False if the feature finder was able to be initialized

Reimplemented from robot_calibration::FeatureFinder.

Reimplemented in robot_calibration::RobotFinder.

Definition at line 96 of file plane_finder.cpp.

◆ removeInvalidPoints()

void robot_calibration::PlaneFinder::removeInvalidPoints	(	sensor_msgs::PointCloud2 &	cloud,
		double	min_x,
		double	max_x,
		double	min_y,
		double	max_y,
		double	min_z,
		double	max_z
	)

protectedvirtual

Remove invalid points from a cloud.

Parameters

cloud The point cloud to remove invalid points from

Invalid points include:

points with NAN values
points with infinite values
points with z-distance of 0
points outside our min/max x,y,z parameters

Definition at line 210 of file plane_finder.cpp.

◆ waitForCloud()

bool robot_calibration::PlaneFinder::waitForCloud ( )

protectedvirtual

Wait until a new cloud has arrived.

Definition at line 174 of file plane_finder.cpp.

Member Data Documentation

◆ cloud_

sensor_msgs::PointCloud2 robot_calibration::PlaneFinder::cloud_

protected

Definition at line 92 of file plane_finder.h.

◆ cos_normal_angle_

double robot_calibration::PlaneFinder::cos_normal_angle_

protected

Definition at line 104 of file plane_finder.h.

◆ depth_camera_manager_

DepthCameraInfoManager robot_calibration::PlaneFinder::depth_camera_manager_

protected

Definition at line 93 of file plane_finder.h.

◆ desired_normal_

Eigen::Vector3d robot_calibration::PlaneFinder::desired_normal_

protected

Definition at line 103 of file plane_finder.h.

◆ initial_sampling_distance_

double robot_calibration::PlaneFinder::initial_sampling_distance_

protected

Definition at line 98 of file plane_finder.h.

◆ max_x_

double robot_calibration::PlaneFinder::max_x_

protected

Definition at line 100 of file plane_finder.h.

◆ max_y_

double robot_calibration::PlaneFinder::max_y_

protected

Definition at line 101 of file plane_finder.h.

◆ max_z_

double robot_calibration::PlaneFinder::max_z_

protected

Definition at line 102 of file plane_finder.h.

◆ min_x_

double robot_calibration::PlaneFinder::min_x_

protected

Definition at line 100 of file plane_finder.h.

◆ min_y_

double robot_calibration::PlaneFinder::min_y_

protected

Definition at line 101 of file plane_finder.h.

◆ min_z_

double robot_calibration::PlaneFinder::min_z_

protected

Definition at line 102 of file plane_finder.h.

◆ output_debug_

bool robot_calibration::PlaneFinder::output_debug_

protected

Definition at line 109 of file plane_finder.h.

◆ plane_sensor_name_

std::string robot_calibration::PlaneFinder::plane_sensor_name_

protected

Definition at line 96 of file plane_finder.h.

◆ plane_tolerance_

double robot_calibration::PlaneFinder::plane_tolerance_

protected

Definition at line 99 of file plane_finder.h.

◆ points_max_

int robot_calibration::PlaneFinder::points_max_

protected

Definition at line 97 of file plane_finder.h.

◆ publisher_

ros::Publisher robot_calibration::PlaneFinder::publisher_

protected

Definition at line 86 of file plane_finder.h.

◆ ransac_iterations_

int robot_calibration::PlaneFinder::ransac_iterations_

protected

Definition at line 106 of file plane_finder.h.

◆ ransac_points_

int robot_calibration::PlaneFinder::ransac_points_

protected

Definition at line 107 of file plane_finder.h.

◆ subscriber_

ros::Subscriber robot_calibration::PlaneFinder::subscriber_

protected

Definition at line 85 of file plane_finder.h.

◆ tf_buffer_

tf2_ros::Buffer robot_calibration::PlaneFinder::tf_buffer_

protected

Definition at line 88 of file plane_finder.h.

◆ tf_listener_

tf2_ros::TransformListener robot_calibration::PlaneFinder::tf_listener_

protected

Definition at line 89 of file plane_finder.h.

◆ transform_frame_

std::string robot_calibration::PlaneFinder::transform_frame_

protected

Definition at line 105 of file plane_finder.h.

◆ waiting_

bool robot_calibration::PlaneFinder::waiting_

protected

Definition at line 91 of file plane_finder.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlaneFinder()

◆ ~PlaneFinder()

Member Function Documentation

◆ cameraCallback()

◆ extractObservation()

◆ extractPlane()

◆ find()

◆ init()

◆ removeInvalidPoints()

◆ waitForCloud()

Member Data Documentation

◆ cloud_

◆ cos_normal_angle_

◆ depth_camera_manager_

◆ desired_normal_

◆ initial_sampling_distance_

◆ max_x_

◆ max_y_

◆ max_z_

◆ min_x_

◆ min_y_

◆ min_z_

◆ output_debug_

◆ plane_sensor_name_

◆ plane_tolerance_

◆ points_max_

◆ publisher_

◆ ransac_iterations_

◆ ransac_points_

◆ subscriber_

◆ tf_buffer_

◆ tf_listener_

◆ transform_frame_

◆ waiting_