plane_extractor.h File Reference

#include <string.h>
#include <math.h>
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Point32.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/filters/passthrough.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl_ros/transforms.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/surface/concave_hull.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/features/normal_3d_omp.h>
#include <tf/transform_listener.h>
#include <book_stacking_msgs/PlaneInfo.h>
#include <book_stacking_msgs/PlaneInfos.h>
#include <book_stacking_msgs/ObjectInfo.h>
#include <book_stacking_msgs/ObjectInfos.h>

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Typedefs
typedef pcl::KdTree< Point >::Ptr	KdTreePtr
typedef pcl::PointXYZ	Point
Functions
geometry_msgs::Point32	calcCentroid (const pcl::PointCloud< Point > &cloud)
void	drawObjectPrisms (const book_stacking_msgs::ObjectInfos &objects, const ros::Publisher &object_pub, const book_stacking_msgs::PlaneInfo &plane, float r=0.0f, float g=0.0f, float b=1.0f)
void	drawPlaneMarkers (const book_stacking_msgs::PlaneInfos &planes, const ros::Publisher &plane_pub, float r=0.0f, float g=1.0f, float b=0.0f)
void	drawPlaneMarkers (const std::vector< book_stacking_msgs::PlaneInfo > &planes, const ros::Publisher &plane_pub, float r=0.0f, float g=1.0f, float b=0.0f)
book_stacking_msgs::ObjectInfos	getObjectsOverPlane (const book_stacking_msgs::PlaneInfo &plane, const pcl::PointCloud< Point > &cloud, double prism_min_height=0.0, double prism_max_height=1.0)
book_stacking_msgs::PlaneInfos	getPlanesByNormals (const pcl::PointCloud< Point > &cloud, unsigned int max_planes, bool cluster_planes, bool use_concave, bool use_omp=false, double dist_thresh=0.03, double max_sac_iterations=1000, double sac_probability=0.99, unsigned int min_inliers=1000, double search_radius=0.1, double cluster_tolerance=0.1)

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Typedef Documentation

typedef pcl::KdTree<Point>::Ptr KdTreePtr

Definition at line 51 of file plane_extractor.h.

typedef pcl::PointXYZ Point

Definition at line 50 of file plane_extractor.h.

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Function Documentation

geometry_msgs::Point32 calcCentroid

(

const pcl::PointCloud< Point > &

cloud

)

Definition at line 3 of file planeExtractor.cpp.

void drawObjectPrisms	(	const book_stacking_msgs::ObjectInfos &	objects,
		const ros::Publisher &	object_pub,
		const book_stacking_msgs::PlaneInfo &	plane,
		float	r = 0.0f,
		float	g = 0.0f,
		float	b = 1.0f
	)

Definition at line 102 of file planeExtractor.cpp.

void drawPlaneMarkers	(	const book_stacking_msgs::PlaneInfos &	planes,
		const ros::Publisher &	plane_pub,
		float	r = 0.0f,
		float	g = 1.0f,
		float	b = 0.0f
	)

Definition at line 184 of file planeExtractor.cpp.

void drawPlaneMarkers	(	const std::vector< book_stacking_msgs::PlaneInfo > &	planes,
		const ros::Publisher &	plane_pub,
		float	r = 0.0f,
		float	g = 1.0f,
		float	b = 0.0f
	)

Definition at line 178 of file planeExtractor.cpp.

book_stacking_msgs::ObjectInfos getObjectsOverPlane	(	const book_stacking_msgs::PlaneInfo &	plane,
		const pcl::PointCloud< Point > &	cloud,
		double	prism_min_height = 0.0,
		double	prism_max_height = 1.0
	)

Definition at line 24 of file planeExtractor.cpp.

book_stacking_msgs::PlaneInfos getPlanesByNormals	(	const pcl::PointCloud< Point > &	cloud,
		unsigned int	max_planes,
		bool	cluster_planes,
		bool	use_concave,
		bool	use_omp = false,
		double	dist_thresh = 0.03,
		double	max_sac_iterations = 1000,
		double	sac_probability = 0.99,
		unsigned int	min_inliers = 1000,
		double	search_radius = 0.1,
		double	cluster_tolerance = 0.1
	)

Definition at line 234 of file planeExtractor.cpp.