#include <PlanePatch.h>

Public Types
typedef pcl::PointCloud < ColoredPointT >	ColoredPointCloud
typedef pcl::PointXYZRGB	ColoredPointT
typedef boost::shared_ptr < const GridMap >	GridMapConstPtr
typedef boost::shared_ptr < GridMap >	GridMapPtr
typedef pcl::PointCloud < IntensityPointT >	IntensityPointCloud
typedef pcl::PointXYZI	IntensityPointT
typedef std::pair< unsigned int, unsigned int >	Pair2ui
typedef boost::shared_ptr < const PlanePatch >	PlanePatchConstPtr
typedef std::list< PlanePatchPtr >	PlanePatches
typedef boost::shared_ptr < PlanePatch >	PlanePatchPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef std::vector< int >	PointIndices
typedef std::vector< Vec3, Eigen::aligned_allocator< Vec3 > >	Points
typedef pcl::PointXYZ	PointT
typedef Eigen::Vector3f	Vec3
Public Member Functions
template<typename PointCloudType >
void	addPoints (const PointIndices &pointIndices, const PointCloudType &pointCloud)
bool	checkPointConnection (const Vec3 &p, const int connectionNeighbors) const
void	computeAlphaMap (const PointCloud &pointCloud, const float texelSizeFactor=2.f, const unsigned int dilateIterations=0)
void	computeBoundingRectangle ()
template<typename PointCloudType >
void	computeHeightMap (const float texturePixelSize, const PointCloudType &pointCloud, const unsigned int dilateIterations)
void	computeIntensityTextureMap (const IntensityPointCloud &pointCloud, const float texelSizeFactor=2.f, const unsigned int dilateIterations=0)
void	computeNormalMap ()
void	computeOrientedBoundingBox ()
void	computeRGBTextureMap (const ColoredPointCloud &pointCloud, const float texelSizeFactor=2.f, const unsigned int dilateIterations=0)
void	computeTextureSize (float &texPixSize, unsigned int &wPot, unsigned int &hPot, const float texelSizeFactor)
float	distanceToOBB (const Vec3 &p) const
float	getArea () const
const Points &	getBBVertices () const
const Points &	getBRVertices () const
float	getDistanceThreshold () const
const cv::Mat &	getHeightMap () const
size_t	getId () const
const PointIndices &	getInliers () const
void	getLimitsXY (float &xMin, float &xMax, float &yMin, float &yMax) const
const cv::Mat &	getNormalMap () const
const Plane3D &	getPlane3D () const
const Vec3 &	getPlaneCoG () const
float	getTextureHeightRatio () const
const cv::Mat &	getTextureMap () const
float	getTextureWidthRatio () const
GridMapPtr	grid ()
GridMapConstPtr	grid () const
bool	hasGrid () const
void	newGrid (const float cellSize)
template<typename PointCloudType >
	PlanePatch (const Eigen::Vector3f &normal, const float distance, const PointIndices &inliers, const PointCloudType &pointCloud, const float distanceThreshold=-1.f)
template<typename PointCloudType >
	PlanePatch (const PointIndices &inliers, const PointCloudType &pointCloud, const float distanceThreshold)
	PlanePatch (const Vec3 &normal, const float distance, const float distanceThreshold, const Points &brVertices, const float texWidthRatio, const float texHeightRatio, const cv::Mat &heightMap, const cv::Mat &textureMap)
	PlanePatch ()
void	setGrid (GridMap *newGridMapPtr)
void	setId (size_t id)
float &	xMax ()
const float &	xMax () const
float &	xMin ()
const float &	xMin () const
float &	yMax ()
const float &	yMax () const
float &	yMin ()
const float &	yMin () const
Static Public Member Functions
static void	compute2PotTexSize (float &widthRatio, float &heightRatio, unsigned int &wPot, unsigned int &hPot, const unsigned int width, const unsigned int height)
Private Member Functions
template<typename PointCloudType >
void	calculateMinMax (const PointCloudType &pointCloud)
template<typename PointCloudType >
void	initializeTransformationsWithoutPCA (const PointCloudType &pointCloud)
template<typename PointCloudType >
void	initializeTransformationsWithPCA (const PointCloudType &pointCloud)
template<typename PointCloudType >
void	initializeWithoutPCA (const PointCloudType &pointcloud)
template<typename PointCloudType >
void	initializeWithPCA (const PointCloudType &pointCloud)
PlanePatch &	operator= (const PlanePatch &)
	PlanePatch (const PlanePatch &)
template<typename PointCloudType >
void	rotateToPrincipalAxis (Eigen::Matrix3f &m, const PointCloudType &pointCloud, const Vec3 &greatestEigenVector=Vec3::Zero()) const
Private Attributes
Points	mBBVertices
Points	mBRVertices
Vec3	mCoG
float	mDistanceThreshold
GridMapPtr	mGrid
cv::Mat	mHeightMap
PointIndices	mInlierIndices
cv::Mat	mNormalMap
Plane3D	mPlane
size_t	mPlaneId
float	mTextureHeightRatio
cv::Mat	mTextureMap
float	mTextureWidthRatio
float	mXMax
float	mXMin
float	mYMax
float	mYMin
float	mZMax
float	mZMin

Detailed Description

Definition at line 54 of file PlanePatch.h.

Member Typedef Documentation

typedef pcl::PointCloud<ColoredPointT> PlanePatch::ColoredPointCloud

Definition at line 65 of file PlanePatch.h.

typedef pcl::PointXYZRGB PlanePatch::ColoredPointT

Definition at line 62 of file PlanePatch.h.

typedef boost::shared_ptr<const GridMap> PlanePatch::GridMapConstPtr

Definition at line 71 of file PlanePatch.h.

typedef boost::shared_ptr<GridMap> PlanePatch::GridMapPtr

Definition at line 70 of file PlanePatch.h.

typedef pcl::PointCloud<IntensityPointT> PlanePatch::IntensityPointCloud

Definition at line 66 of file PlanePatch.h.

typedef pcl::PointXYZI PlanePatch::IntensityPointT

Definition at line 63 of file PlanePatch.h.

typedef std::pair<unsigned int, unsigned int> PlanePatch::Pair2ui

Definition at line 67 of file PlanePatch.h.

typedef boost::shared_ptr<const PlanePatch> PlanePatch::PlanePatchConstPtr

Definition at line 57 of file PlanePatch.h.

typedef std::list<PlanePatchPtr> PlanePatch::PlanePatches

Definition at line 58 of file PlanePatch.h.

typedef boost::shared_ptr<PlanePatch> PlanePatch::PlanePatchPtr

Definition at line 56 of file PlanePatch.h.

typedef pcl::PointCloud<PointT> PlanePatch::PointCloud

Definition at line 64 of file PlanePatch.h.

typedef std::vector<int> PlanePatch::PointIndices

Definition at line 60 of file PlanePatch.h.

typedef std::vector<Vec3, Eigen::aligned_allocator<Vec3> > PlanePatch::Points

Definition at line 69 of file PlanePatch.h.

typedef pcl::PointXYZ PlanePatch::PointT

Definition at line 61 of file PlanePatch.h.

typedef Eigen::Vector3f PlanePatch::Vec3

Definition at line 68 of file PlanePatch.h.

Constructor & Destructor Documentation

template<typename PointCloudType >

PlanePatch::PlanePatch	(	const Eigen::Vector3f &	normal,
		const float	distance,
		const PointIndices &	inliers,
		const PointCloudType &	pointCloud,
		const float	distanceThreshold = `-1.f`
	)

Definition at line 248 of file PlanePatch.h.

template<typename PointCloudType >

PlanePatch::PlanePatch	(	const PointIndices &	inliers,
		const PointCloudType &	pointCloud,
		const float	distanceThreshold
	)

Definition at line 259 of file PlanePatch.h.

PlanePatch::PlanePatch	(	const Vec3 &	normal,
		const float	distance,
		const float	distanceThreshold,
		const Points &	brVertices,
		const float	texWidthRatio,
		const float	texHeightRatio,
		const cv::Mat &	heightMap,
		const cv::Mat &	textureMap
	)

Definition at line 7 of file PlanePatch.cpp.

PlanePatch::PlanePatch ( )

PlanePatch::PlanePatch ( const PlanePatch & ) [inline, private]

Definition at line 167 of file PlanePatch.h.

Member Function Documentation

template<typename PointCloudType >

void PlanePatch::addPoints	(	const PointIndices &	pointIndices,
		const PointCloudType &	pointCloud
	)

Definition at line 269 of file PlanePatch.h.

template<typename PointCloudType >

void PlanePatch::calculateMinMax ( const PointCloudType & pointCloud ) [private]

Definition at line 377 of file PlanePatch.h.

bool PlanePatch::checkPointConnection	(	const Vec3 &	p,
		const int	connectionNeighbors
	)		const

Definition at line 221 of file PlanePatch.cpp.

void PlanePatch::compute2PotTexSize	(	float &	widthRatio,
		float &	heightRatio,
		unsigned int &	wPot,
		unsigned int &	hPot,
		const unsigned int	width,
		const unsigned int	height
	)		`[static]`

Definition at line 47 of file PlanePatch.cpp.

void PlanePatch::computeAlphaMap	(	const PointCloud &	pointCloud,
		const float	texelSizeFactor = `2.f`,
		const unsigned int	dilateIterations = `0`
	)

Definition at line 138 of file PlanePatch.cpp.

void PlanePatch::computeBoundingRectangle ( )

Definition at line 206 of file PlanePatch.cpp.

template<typename PointCloudType >

void PlanePatch::computeHeightMap	(	const float	texturePixelSize,
		const PointCloudType &	pointCloud,
		const unsigned int	dilateIterations
	)

Definition at line 286 of file PlanePatch.h.

void PlanePatch::computeIntensityTextureMap	(	const IntensityPointCloud &	pointCloud,
		const float	texelSizeFactor = `2.f`,
		const unsigned int	dilateIterations = `0`
	)

Definition at line 106 of file PlanePatch.cpp.

void PlanePatch::computeNormalMap ( )

Definition at line 164 of file PlanePatch.cpp.

void PlanePatch::computeOrientedBoundingBox ( )

Definition at line 187 of file PlanePatch.cpp.

void PlanePatch::computeRGBTextureMap	(	const ColoredPointCloud &	pointCloud,
		const float	texelSizeFactor = `2.f`,
		const unsigned int	dilateIterations = `0`
	)

Definition at line 62 of file PlanePatch.cpp.

void PlanePatch::computeTextureSize	(	float &	texPixSize,
		unsigned int &	wPot,
		unsigned int &	hPot,
		const float	texelSizeFactor
	)

Definition at line 36 of file PlanePatch.cpp.

float PlanePatch::distanceToOBB ( const Vec3 & p ) const

Definition at line 227 of file PlanePatch.cpp.

float PlanePatch::getArea ( ) const [inline]

Definition at line 128 of file PlanePatch.h.

const Points& PlanePatch::getBBVertices ( ) const [inline]

Definition at line 103 of file PlanePatch.h.

const Points& PlanePatch::getBRVertices ( ) const [inline]

Definition at line 102 of file PlanePatch.h.

float PlanePatch::getDistanceThreshold ( ) const [inline]

Definition at line 130 of file PlanePatch.h.

const cv::Mat& PlanePatch::getHeightMap ( ) const [inline]

Definition at line 109 of file PlanePatch.h.

size_t PlanePatch::getId ( ) const [inline]

Definition at line 135 of file PlanePatch.h.

const PointIndices& PlanePatch::getInliers ( ) const [inline]

Definition at line 129 of file PlanePatch.h.

void PlanePatch::getLimitsXY	(	float &	xMin,
		float &	xMax,
		float &	yMin,
		float &	yMax
	)		const

Definition at line 21 of file PlanePatch.cpp.

const cv::Mat& PlanePatch::getNormalMap ( ) const [inline]

Definition at line 113 of file PlanePatch.h.

const Plane3D& PlanePatch::getPlane3D ( ) const [inline]

Definition at line 121 of file PlanePatch.h.

const Vec3& PlanePatch::getPlaneCoG ( ) const [inline]

Definition at line 120 of file PlanePatch.h.

float PlanePatch::getTextureHeightRatio ( ) const [inline]

Definition at line 118 of file PlanePatch.h.

const cv::Mat& PlanePatch::getTextureMap ( ) const [inline]

Definition at line 105 of file PlanePatch.h.

float PlanePatch::getTextureWidthRatio ( ) const [inline]

Definition at line 117 of file PlanePatch.h.

GridMapPtr PlanePatch::grid ( ) [inline]

Definition at line 96 of file PlanePatch.h.

GridMapConstPtr PlanePatch::grid ( ) const [inline]

Definition at line 132 of file PlanePatch.h.

bool PlanePatch::hasGrid ( ) const [inline]

Definition at line 133 of file PlanePatch.h.

template<typename PointCloudType >

void PlanePatch::initializeTransformationsWithoutPCA ( const PointCloudType & pointCloud ) [private]

Definition at line 321 of file PlanePatch.h.

template<typename PointCloudType >

void PlanePatch::initializeTransformationsWithPCA ( const PointCloudType & pointCloud ) [private]

Definition at line 332 of file PlanePatch.h.

template<typename PointCloudType >

void PlanePatch::initializeWithoutPCA ( const PointCloudType & pointcloud ) [private]

Definition at line 357 of file PlanePatch.h.

template<typename PointCloudType >

void PlanePatch::initializeWithPCA ( const PointCloudType & pointCloud ) [private]

Definition at line 367 of file PlanePatch.h.

void PlanePatch::newGrid ( const float cellSize )

Definition at line 30 of file PlanePatch.cpp.

PlanePatch& PlanePatch::operator= ( const PlanePatch & ) [inline, private]

Definition at line 172 of file PlanePatch.h.

template<typename PointCloudType >

void PlanePatch::rotateToPrincipalAxis	(	Eigen::Matrix3f &	m,
		const PointCloudType &	pointCloud,
		const Vec3 &	greatestEigenVector = `Vec3::Zero()`
	)		const `[private]`