Public Member Functions
void	cloud_trans (unsigned long swissranger_jlo_id, unsigned long ptu_base_jlo_id, Point32 &viewpoint_cloud, const PointCloud &cloud_in)
bool	detectTable (const PointCloud &cloud, PlaneClusterResult &resp, Point32 viewpoint_cloud, bool parallel)
void	findObjectClusters (const PointCloud &cloud, const vector< double > &coeff, const Polygon &table, const Point32 &axis, const Point32 &min_p, const Point32 &max_p, vector< int > &object_indices, PlaneClusterResult &resp)
bool	fitSACPlane (PointCloud *points, vector< int > &indices, vector< int > &inliers, vector< double > &coeff, const Point32 &viewpoint_cloud, double dist_thresh)
double	getRGB (float r, float g, float b)
	Obtain a 24-bit RGB coded value from 3 independent <r, g, b> channel values.
bool	plane_clusters_service (PlaneClusterResult &resp, int swissranger_jlo_id, int ptu_base_jlo_id, const PointCloud &cloud, bool parallel)
	PlaneClustersSR (XMLTag *tag)
void	updateParametersFromServer ()
Public Attributes
Point32	axis_
PointCloud	cloud_annotated_
PointCloud	cloud_down_
PointCloud	cloud_in_trans_
int	clusters_min_pts_
double	delta_z_
int	downsample_factor_
double	eps_angle_
string	input_cloud_topic_
int	k_
Point	leaf_width_
boost::mutex	m_mutexUsage
double	max_angle_
double	max_z_
double	min_angle_
bool	need_cloud_data_
int	object_cluster_min_pts_
double	object_cluster_tolerance_
double	object_min_dist_from_table_
double	sac_distance_threshold_

Detailed Description

Definition at line 125 of file ClusterDetector.cpp.

Constructor & Destructor Documentation

PlaneClustersSR::PlaneClustersSR ( XMLTag * tag ) [inline]

Definition at line 159 of file ClusterDetector.cpp.

void PlaneClustersSR::cloud_trans	(	unsigned long	swissranger_jlo_id,
		unsigned long	ptu_base_jlo_id,
		Point32 &	viewpoint_cloud,
		const PointCloud &	cloud_in
	)		`[inline]`

Definition at line 208 of file ClusterDetector.cpp.

bool PlaneClustersSR::detectTable	(	const PointCloud &	cloud,
		PlaneClusterResult &	resp,
		Point32	viewpoint_cloud,
		bool	parallel
	)		`[inline]`

Definition at line 300 of file ClusterDetector.cpp.

void PlaneClustersSR::findObjectClusters	(	const PointCloud &	cloud,
		const vector< double > &	coeff,
		const Polygon &	table,
		const Point32 &	axis,
		const Point32 &	min_p,
		const Point32 &	max_p,
		vector< int > &	object_indices,
		PlaneClusterResult &	resp
	)		`[inline]`

Definition at line 431 of file ClusterDetector.cpp.

bool PlaneClustersSR::fitSACPlane	(	PointCloud *	points,
		vector< int > &	indices,
		vector< int > &	inliers,
		vector< double > &	coeff,
		const Point32 &	viewpoint_cloud,
		double	dist_thresh
	)		`[inline]`

Definition at line 559 of file ClusterDetector.cpp.

double PlaneClustersSR::getRGB	(	float	r,
		float	g,
		float	b
	)		`[inline]`

Obtain a 24-bit RGB coded value from 3 independent <r, g, b> channel values.

Parameters:

Definition at line 200 of file ClusterDetector.cpp.

bool PlaneClustersSR::plane_clusters_service	(	PlaneClusterResult &	resp,
		int	swissranger_jlo_id,
		int	ptu_base_jlo_id,
		const PointCloud &	cloud,
		bool	parallel
	)		`[inline]`