#include <box_fit_algo.h>

Inheritance diagram for pcl_cloud_algos::BoxEstimation:

Public Types
typedef sensor_msgs::PointCloud2	InputType
typedef triangle_mesh_msgs::TriangleMesh	OutputType
Public Member Functions
	BoxEstimation ()
virtual void	computeInAndOutliers (boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > > cloud, std::vector< double > coeff, double threshold_in, double threshold_out)
void	computeMarker (boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > > cloud, std::vector< double > coeff)
	Sets the internal box as marker for rvis visualisation.
ros::Publisher	createPublisher (ros::NodeHandle &nh)
virtual bool	find_model (boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > > cloud, std::vector< double > &coeff)
	function for actual model fitting
std::vector< double >	getCoeff ()
	Returns the computed model coefficients.
virtual boost::shared_ptr < sensor_msgs::PointCloud2 >	getContained ()
virtual boost::shared_ptr < sensor_msgs::PointCloud2 >	getInliers ()
visualization_msgs::Marker	getMarker ()
	Returns the internal box as marker for rvis visualisation.
virtual boost::shared_ptr < sensor_msgs::PointCloud2 >	getOutliers ()
virtual boost::shared_ptr < pcl::PointCloud < pcl::PointXYZINormal > >	getThresholdedInliers (double eps_angle)
void	init (ros::NodeHandle &)
boost::shared_ptr< const OutputType >	output ()
void	post ()
void	pre ()
std::string	process (const boost::shared_ptr< const InputType >)
std::vector< std::string >	provides ()
void	publish_marker (boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > > cloud, std::vector< double > &coeff)
	publish box as marker for rvis visualisation
std::vector< std::string >	requires ()
void	setInputCloud (boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > > cloud)
	Sets an input cloud if you are using BoxEstimation class outside cloud_algos framework.
void	triangulate_box (boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > > cloud, std::vector< double > &coeff)
	makes triangular mesh out of box coefficients
Static Public Member Functions
static std::string	default_input_topic ()
static std::string	default_node_name ()
static std::string	default_output_topic ()
Public Attributes
bool	publish_marker_
Protected Attributes
float	b_
pcl::PointXYZINormal	box_centroid_
boost::shared_ptr < pcl::PointCloud < pcl::PointXYZINormal > >	cloud_
std::vector< double >	coeff_
std::vector< int >	contained_
ros::Publisher	contained_pub_
std::string	frame_id_
float	g_
std::vector< int >	inliers_
ros::Publisher	inliers_pub_
visualization_msgs::Marker	marker_
ros::Publisher	marker_pub_
boost::shared_ptr< OutputType >	mesh_
ros::NodeHandle	nh_
std::vector< int >	outliers_
ros::Publisher	outliers_pub_
std::string	output_box_topic_
float	r_
double	threshold_in_
double	threshold_out_

Detailed Description

Definition at line 46 of file box_fit_algo.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_cloud_algos::BoxEstimation::InputType

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 61 of file box_fit_algo.h.

typedef triangle_mesh_msgs::TriangleMesh pcl_cloud_algos::BoxEstimation::OutputType

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 58 of file box_fit_algo.h.

Constructor & Destructor Documentation

pcl_cloud_algos::BoxEstimation::BoxEstimation ( ) [inline]

Definition at line 52 of file box_fit_algo.h.

Member Function Documentation

void BoxEstimation::computeInAndOutliers	(	boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > >	cloud,
		std::vector< double >	coeff,
		double	threshold_in,
		double	threshold_out
	)		`[virtual]`

Definition at line 259 of file box_fit_algo.cpp.

void BoxEstimation::computeMarker	(	boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > >	cloud,
		std::vector< double >	coeff
	)

Sets the internal box as marker for rvis visualisation.

computes model marker (to rviz)

Parameters:

cloud	input point cloud message
coeff	box coefficients (see find_model function):

Definition at line 476 of file box_fit_algo.cpp.

ros::Publisher pcl_cloud_algos::BoxEstimation::createPublisher ( ros::NodeHandle & nh ) [inline, virtual]

Implements pcl_cloud_algos::CloudAlgo.

Reimplemented in pcl_cloud_algos::RobustBoxEstimation.

Definition at line 138 of file box_fit_algo.h.

static std::string pcl_cloud_algos::BoxEstimation::default_input_topic ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 63 of file box_fit_algo.h.

static std::string pcl_cloud_algos::BoxEstimation::default_node_name ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 69 of file box_fit_algo.h.

static std::string pcl_cloud_algos::BoxEstimation::default_output_topic ( ) [inline, static]

Reimplemented from pcl_cloud_algos::CloudAlgo.

Definition at line 66 of file box_fit_algo.h.

bool BoxEstimation::find_model	(	boost::shared_ptr< const pcl::PointCloud< pcl::PointXYZINormal > >	cloud,
		std::vector< double > &	coeff
	)		`[virtual]`

function for actual model fitting

Parameters:

cloud	de-noisified input point cloud message
coeff	box to-be-filled-in coefficients(15 elements): box center: cx, cy, cz, box dimensions: dx, dy, dz, box eigen axes: e1_x, e1y, e1z, e2_x, e2y, e2z, e3_x, e3y, e3z

actual model fitting happens here

Reimplemented in pcl_cloud_algos::RobustBoxEstimation.

Definition at line 305 of file box_fit_algo.cpp.

std::vector<double> pcl_cloud_algos::BoxEstimation::getCoeff ( ) [inline]

Returns the computed model coefficients.

Parameters: