DominantPlaneSegmentation performs euclidean segmentation on a scene assuming that a dominant plane exists. More...
#include <dominant_plane_segmentation.h>
Public Types | |
| typedef pcl::PointCloud < PointType > | Cloud |
| typedef Cloud::ConstPtr | CloudConstPtr |
| typedef Cloud::Ptr | CloudPtr |
| typedef pcl::search::KdTree < PointType >::Ptr | KdTreePtr |
Public Member Functions | |
| void | compute (std::vector< CloudPtr > &clusters) |
| void | compute_fast (std::vector< CloudPtr > &clusters) |
| void | compute_full (std::vector< CloudPtr > &clusters) |
| void | compute_table_plane () |
| DominantPlaneSegmentation () | |
| void | getIndicesClusters (std::vector< pcl::PointIndices > &indices) |
| void | getTableCoefficients (Eigen::Vector4f &model) |
| void | setDistanceBetweenClusters (float d) |
| void | setDownsamplingSize (float d) |
| void | setInputCloud (CloudPtr &cloud_in) |
| void | setKNeighbors (int k) |
| void | setMaxZBounds (double z) |
| void | setMinClusterSize (int size) |
| void | setMinZBounds (double z) |
| void | setObjectMaxHeight (double h) |
| void | setObjectMinHeight (double h) |
| void | setSACThreshold (double d) |
| void | setWSize (int w) |
Private Member Functions | |
| int | check (pcl::PointXYZI &p1, pcl::PointXYZI &p2, float, float max_dist) |
Private Attributes | |
| pcl::ProjectInliers< PointType > | bb_cluster_proj_ |
| pcl::EuclideanClusterExtraction < PointType > | cluster_ |
| float | downsample_leaf_ |
| Downsampling resolution. | |
| pcl::VoxelGrid< PointType > | grid_ |
| pcl::ConvexHull< PointType > | hull_ |
| std::vector< pcl::PointIndices > | indices_clusters_ |
| Indices of the clusters to the main cloud found by the segmentation. | |
| CloudPtr | input_ |
| Input cloud from which to extract clusters. | |
| int | k_ |
| Number of neighbors for normal estimation. | |
| double | max_z_bounds_ |
| Keep points closer than max_z_bounds. | |
| double | min_z_bounds_ |
| Keep points farther away than min_z_bounds. | |
| pcl::NormalEstimation < PointType, pcl::Normal > | n3d_ |
| int | object_cluster_min_size_ |
| Minimum size for a cluster, clusters smaller than this won't be returned. | |
| float | object_cluster_tolerance_ |
| Tolerance between different clusters. | |
| double | object_max_height_ |
| Max height from the table plane. | |
| double | object_min_height_ |
| Min height from the table plane object points will be considered from. | |
| pcl::PassThrough< PointType > | pass_ |
| pcl::ExtractPolygonalPrismData < PointType > | prism_ |
| pcl::ProjectInliers< PointType > | proj_ |
| double | sac_distance_threshold_ |
| Threshold for SAC plane segmentation. | |
| pcl::SACSegmentationFromNormals < PointType, pcl::Normal > | seg_ |
| Eigen::Vector4f | table_coeffs_ |
| Table coefficients (a,b,c,d) | |
| int | wsize_ |
| Window size in pixels for CC in compute_fast method. | |
DominantPlaneSegmentation performs euclidean segmentation on a scene assuming that a dominant plane exists.
Definition at line 66 of file dominant_plane_segmentation.h.
| typedef pcl::PointCloud<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::Cloud |
Definition at line 69 of file dominant_plane_segmentation.h.
| typedef Cloud::ConstPtr pcl::apps::DominantPlaneSegmentation< PointType >::CloudConstPtr |
Definition at line 71 of file dominant_plane_segmentation.h.
| typedef Cloud::Ptr pcl::apps::DominantPlaneSegmentation< PointType >::CloudPtr |
Definition at line 70 of file dominant_plane_segmentation.h.
| typedef pcl::search::KdTree<PointType>::Ptr pcl::apps::DominantPlaneSegmentation< PointType >::KdTreePtr |
Definition at line 72 of file dominant_plane_segmentation.h.
| pcl::apps::DominantPlaneSegmentation< PointType >::DominantPlaneSegmentation | ( | ) | [inline] |
Definition at line 74 of file dominant_plane_segmentation.h.
| int pcl::apps::DominantPlaneSegmentation< PointType >::check | ( | pcl::PointXYZI & | p1, |
| pcl::PointXYZI & | p2, | ||
| float | , | ||
| float | max_dist | ||
| ) | [inline, private] |
Definition at line 227 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::compute | ( | std::vector< CloudPtr > & | clusters | ) |
Definition at line 534 of file dominant_plane_segmentation.hpp.
| void pcl::apps::DominantPlaneSegmentation< PointType >::compute_fast | ( | std::vector< CloudPtr > & | clusters | ) |
Definition at line 157 of file dominant_plane_segmentation.hpp.
| void pcl::apps::DominantPlaneSegmentation< PointType >::compute_full | ( | std::vector< CloudPtr > & | clusters | ) |
Definition at line 697 of file dominant_plane_segmentation.hpp.
| void pcl::apps::DominantPlaneSegmentation< PointType >::compute_table_plane | ( | ) |
Definition at line 45 of file dominant_plane_segmentation.hpp.
| void pcl::apps::DominantPlaneSegmentation< PointType >::getIndicesClusters | ( | std::vector< pcl::PointIndices > & | indices | ) | [inline] |
Definition at line 220 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::getTableCoefficients | ( | Eigen::Vector4f & | model | ) | [inline] |
Definition at line 128 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setDistanceBetweenClusters | ( | float | d | ) | [inline] |
Definition at line 137 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setDownsamplingSize | ( | float | d | ) | [inline] |
Definition at line 204 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setInputCloud | ( | CloudPtr & | cloud_in | ) | [inline] |
Definition at line 119 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setKNeighbors | ( | int | k | ) | [inline] |
Definition at line 189 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setMaxZBounds | ( | double | z | ) | [inline] |
Definition at line 181 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setMinClusterSize | ( | int | size | ) | [inline] |
Definition at line 146 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setMinZBounds | ( | double | z | ) | [inline] |
Definition at line 173 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setObjectMaxHeight | ( | double | h | ) | [inline] |
Definition at line 164 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setObjectMinHeight | ( | double | h | ) | [inline] |
Definition at line 155 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setSACThreshold | ( | double | d | ) | [inline] |
Definition at line 196 of file dominant_plane_segmentation.h.
| void pcl::apps::DominantPlaneSegmentation< PointType >::setWSize | ( | int | w | ) | [inline] |
Definition at line 212 of file dominant_plane_segmentation.h.
pcl::ProjectInliers<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::bb_cluster_proj_ [private] |
Definition at line 250 of file dominant_plane_segmentation.h.
pcl::EuclideanClusterExtraction<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::cluster_ [private] |
Definition at line 253 of file dominant_plane_segmentation.h.
float pcl::apps::DominantPlaneSegmentation< PointType >::downsample_leaf_ [private] |
Downsampling resolution.
Definition at line 260 of file dominant_plane_segmentation.h.
pcl::VoxelGrid<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::grid_ [private] |
Definition at line 246 of file dominant_plane_segmentation.h.
pcl::ConvexHull<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::hull_ [private] |
Definition at line 251 of file dominant_plane_segmentation.h.
std::vector<pcl::PointIndices> pcl::apps::DominantPlaneSegmentation< PointType >::indices_clusters_ [private] |
Indices of the clusters to the main cloud found by the segmentation.
Definition at line 280 of file dominant_plane_segmentation.h.
CloudPtr pcl::apps::DominantPlaneSegmentation< PointType >::input_ [private] |
Input cloud from which to extract clusters.
Definition at line 256 of file dominant_plane_segmentation.h.
int pcl::apps::DominantPlaneSegmentation< PointType >::k_ [private] |
Number of neighbors for normal estimation.
Definition at line 262 of file dominant_plane_segmentation.h.
double pcl::apps::DominantPlaneSegmentation< PointType >::max_z_bounds_ [private] |
Keep points closer than max_z_bounds.
Definition at line 266 of file dominant_plane_segmentation.h.
double pcl::apps::DominantPlaneSegmentation< PointType >::min_z_bounds_ [private] |
Keep points farther away than min_z_bounds.
Definition at line 264 of file dominant_plane_segmentation.h.
pcl::NormalEstimation<PointType, pcl::Normal> pcl::apps::DominantPlaneSegmentation< PointType >::n3d_ [private] |
Definition at line 247 of file dominant_plane_segmentation.h.
int pcl::apps::DominantPlaneSegmentation< PointType >::object_cluster_min_size_ [private] |
Minimum size for a cluster, clusters smaller than this won't be returned.
Definition at line 276 of file dominant_plane_segmentation.h.
float pcl::apps::DominantPlaneSegmentation< PointType >::object_cluster_tolerance_ [private] |
Tolerance between different clusters.
Definition at line 274 of file dominant_plane_segmentation.h.
double pcl::apps::DominantPlaneSegmentation< PointType >::object_max_height_ [private] |
Max height from the table plane.
Definition at line 272 of file dominant_plane_segmentation.h.
double pcl::apps::DominantPlaneSegmentation< PointType >::object_min_height_ [private] |
Min height from the table plane object points will be considered from.
Definition at line 270 of file dominant_plane_segmentation.h.
pcl::PassThrough<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::pass_ [private] |
Definition at line 245 of file dominant_plane_segmentation.h.
pcl::ExtractPolygonalPrismData<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::prism_ [private] |
Definition at line 252 of file dominant_plane_segmentation.h.
pcl::ProjectInliers<PointType> pcl::apps::DominantPlaneSegmentation< PointType >::proj_ [private] |
Definition at line 249 of file dominant_plane_segmentation.h.
double pcl::apps::DominantPlaneSegmentation< PointType >::sac_distance_threshold_ [private] |
Threshold for SAC plane segmentation.
Definition at line 268 of file dominant_plane_segmentation.h.
pcl::SACSegmentationFromNormals<PointType, pcl::Normal> pcl::apps::DominantPlaneSegmentation< PointType >::seg_ [private] |
Definition at line 248 of file dominant_plane_segmentation.h.
Eigen::Vector4f pcl::apps::DominantPlaneSegmentation< PointType >::table_coeffs_ [private] |
Table coefficients (a,b,c,d)
Definition at line 258 of file dominant_plane_segmentation.h.
int pcl::apps::DominantPlaneSegmentation< PointType >::wsize_ [private] |
Window size in pixels for CC in compute_fast method.
Definition at line 278 of file dominant_plane_segmentation.h.