Public Types
typedef PointCloud< PointT >	Cloud
typedef Cloud::ConstPtr	CloudConstPtr
typedef Cloud::Ptr	CloudPtr
Public Member Functions
void	cloud_callback (const CloudConstPtr &cloud)
CloudConstPtr	getLatestCloud ()
void	init ()
void	keyboard_callback (const visualization::KeyboardEvent &, void *)
void	mouse_callback (const visualization::MouseEvent &mouse_event, void *)
	NILinemod (Grabber &grabber)
void	pp_callback (const visualization::PointPickingEvent &event, void *)
	Point picking callback. This gets called when the user selects a 3D point on screen (in the PCLVisualizer window) using Shift+click.
void	run ()
void	segment (const PointT &picked_point, int picked_idx, PlanarRegion< PointT > &region, PointIndices &indices, CloudPtr &object)
void	segmentObject (int picked_idx, const CloudConstPtr &cloud, const PointIndices::Ptr &plane_indices, const PointIndices::Ptr &plane_boundary_indices, Cloud &object)
	Given a plane, and the set of inlier indices representing it, segment out the object of intererest supported by it.
Public Attributes
bool	added
CloudConstPtr	cloud_
boost::mutex	cloud_mutex_
visualization::PCLVisualizer	cloud_viewer_
Grabber &	grabber_
visualization::ImageViewer	image_viewer_
search::OrganizedNeighbor< PointT >	search_
Private Attributes
boost::signals2::connection	cloud_connection
bool	first_frame_
boost::signals2::connection	image_connection
std::vector< int >	indices_fullset_
OrganizedMultiPlaneSegmentation < PointT, Normal, Label >	mps_
IntegralImageNormalEstimation < PointT, Normal >	ne_
CloudPtr	plane_
EdgeAwarePlaneComparator < PointT, Normal >::Ptr	plane_comparator_
PointIndices::Ptr	plane_indices_

Detailed Description

Definition at line 73 of file ni_linemod.cpp.

Member Typedef Documentation

typedef PointCloud<PointT> NILinemod::Cloud

Definition at line 76 of file ni_linemod.cpp.

typedef Cloud::ConstPtr NILinemod::CloudConstPtr

Definition at line 78 of file ni_linemod.cpp.

typedef Cloud::Ptr NILinemod::CloudPtr

Definition at line 77 of file ni_linemod.cpp.

Constructor & Destructor Documentation

NILinemod::NILinemod ( Grabber & grabber ) [inline]

Definition at line 81 of file ni_linemod.cpp.

Member Function Documentation

void NILinemod::cloud_callback ( const CloudConstPtr & cloud ) [inline]

Definition at line 107 of file ni_linemod.cpp.

CloudConstPtr NILinemod::getLatestCloud ( ) [inline]

Definition at line 169 of file ni_linemod.cpp.

void NILinemod::init ( ) [inline]

Definition at line 471 of file ni_linemod.cpp.

void NILinemod::keyboard_callback	(	const visualization::KeyboardEvent &	,
		void *
	)		`[inline]`

Definition at line 180 of file ni_linemod.cpp.

void NILinemod::mouse_callback	(	const visualization::MouseEvent &	mouse_event,
		void *
	)		`[inline]`

Definition at line 194 of file ni_linemod.cpp.

void NILinemod::pp_callback	(	const visualization::PointPickingEvent &	event,
		void *
	)		`[inline]`

Point picking callback. This gets called when the user selects a 3D point on screen (in the PCLVisualizer window) using Shift+click.

Parameters:

[in] event the event that triggered the call

Definition at line 369 of file ni_linemod.cpp.

void NILinemod::run ( ) [inline]

Definition at line 485 of file ni_linemod.cpp.

void NILinemod::segment	(	const PointT &	picked_point,
		int	picked_idx,
		PlanarRegion< PointT > &	region,
		PointIndices &	indices,
		CloudPtr &	object
	)		`[inline]`

Definition at line 297 of file ni_linemod.cpp.

void NILinemod::segmentObject	(	int	picked_idx,
		const CloudConstPtr &	cloud,
		const PointIndices::Ptr &	plane_indices,
		const PointIndices::Ptr &	plane_boundary_indices,
		Cloud &	object
	)		`[inline]`

Given a plane, and the set of inlier indices representing it, segment out the object of intererest supported by it.

Parameters:

[in]	picked_idx	the index of a point on the object
[in]	cloud	the full point cloud dataset
[in]	plane_indices	a set of indices representing the plane supporting the object of interest
[in]	plane_boundary_indices	a set of indices representing the boundary of the plane
[out]	object	the segmented resultant object