#include <SphereSegmentation.h>

Classes
struct	Parameters
Public Member Functions
void	fetchParameters (std::string nameSpace="")
Parameters	getParameters ()
void	getSphereCluster (sensor_msgs::PointCloud &cluster)
bool	segment (const sensor_msgs::PointCloud &cloudMsg, arm_navigation_msgs::CollisionObject &obj)
bool	segment (const sensor_msgs::PointCloud2 &cloudMsg, arm_navigation_msgs::CollisionObject &obj)
bool	segment (const std::vector< sensor_msgs::PointCloud > &clusters, arm_navigation_msgs::CollisionObject &obj, int &bestClusterIndex)
bool	segment (const Cloud3D &cluster, arm_navigation_msgs::CollisionObject &obj)
void	setParameters (const Parameters &parameters)
	SphereSegmentation ()
virtual	~SphereSegmentation ()
Protected Member Functions
void	concatenateClouds (const std::vector< sensor_msgs::PointCloud > &clusters, Cloud3D &cluster)
void	createObject (const pcl::ModelCoefficients &coeffs, arm_navigation_msgs::CollisionObject &obj)
void	filterBounds (Cloud3D &cloud)
void	filterWithPolygonalPrism (Cloud3D &cloud, pcl::PointXYZ &point, int nSides, double radius, double heightMax, double heightMin)
bool	findSphereUsingTopPoint (const Cloud3D &cloud, pcl::ModelCoefficients::Ptr coefficients, pcl::PointIndices::Ptr inliers)
bool	findTopCentroid (const Cloud3D &cloud, pcl::PointXYZ &topCentroid)
bool	performSphereSegmentation (const Cloud3D &cloud, pcl::ModelCoefficients::Ptr coefficients, pcl::PointIndices::Ptr inliers)
Protected Attributes
pcl::ModelCoefficients	_LastCoefficients
pcl::PointIndices	_LastIndices
double	_LastSegmentationScore
Cloud3D	_LastSphereSegCluster
bool	_LastSphereSegSuccess
Parameters	_Parameters
tf::TransformListener	_TfListener

Detailed Description

Definition at line 31 of file SphereSegmentation.h.

Constructor & Destructor Documentation

SphereSegmentation::SphereSegmentation ( )

Definition at line 25 of file SphereSegmentation.cpp.

SphereSegmentation::~SphereSegmentation ( ) [virtual]

Definition at line 36 of file SphereSegmentation.cpp.

Member Function Documentation

void SphereSegmentation::concatenateClouds	(	const std::vector< sensor_msgs::PointCloud > &	clusters,
		Cloud3D &	cluster
	)		`[protected]`

Definition at line 604 of file SphereSegmentation.cpp.

void SphereSegmentation::createObject	(	const pcl::ModelCoefficients &	coeffs,
		arm_navigation_msgs::CollisionObject &	obj
	)		`[protected]`

Definition at line 626 of file SphereSegmentation.cpp.

void SphereSegmentation::fetchParameters ( std::string nameSpace = "" )

Definition at line 50 of file SphereSegmentation.cpp.

void SphereSegmentation::filterBounds ( Cloud3D & cloud ) [protected]

Definition at line 542 of file SphereSegmentation.cpp.

void SphereSegmentation::filterWithPolygonalPrism	(	Cloud3D &	cloud,
		pcl::PointXYZ &	point,
		int	nSides,
		double	radius,
		double	heightMax,
		double	heightMin
	)		`[protected]`

Definition at line 569 of file SphereSegmentation.cpp.

bool SphereSegmentation::findSphereUsingTopPoint	(	const Cloud3D &	cloud,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointIndices::Ptr	inliers
	)		`[protected]`

Definition at line 278 of file SphereSegmentation.cpp.

bool SphereSegmentation::findTopCentroid	(	const Cloud3D &	cloud,
		pcl::PointXYZ &	topCentroid
	)		`[protected]`

Definition at line 305 of file SphereSegmentation.cpp.

SphereSegmentation::Parameters SphereSegmentation::getParameters ( )

Definition at line 45 of file SphereSegmentation.cpp.

void SphereSegmentation::getSphereCluster ( sensor_msgs::PointCloud & cluster )

Definition at line 63 of file SphereSegmentation.cpp.

bool SphereSegmentation::performSphereSegmentation	(	const Cloud3D &	cloud,
		pcl::ModelCoefficients::Ptr	coefficients,
		pcl::PointIndices::Ptr	inliers
	)		`[protected]`

Definition at line 229 of file SphereSegmentation.cpp.

bool SphereSegmentation::segment	(	const sensor_msgs::PointCloud &	cloudMsg,
		arm_navigation_msgs::CollisionObject &	obj
	)

Definition at line 55 of file SphereSegmentation.cpp.

bool SphereSegmentation::segment	(	const sensor_msgs::PointCloud2 &	cloudMsg,
		arm_navigation_msgs::CollisionObject &	obj
	)

Definition at line 74 of file SphereSegmentation.cpp.

bool SphereSegmentation::segment	(	const std::vector< sensor_msgs::PointCloud > &	clusters,
		arm_navigation_msgs::CollisionObject &	obj,
		int &	bestClusterIndex
	)