Class representing Cylinder shapes. More...

#include <cylinder.h>

Inheritance diagram for cob_3d_mapping::Cylinder:

Public Types
typedef boost::shared_ptr < Cylinder >	Ptr
	Cylinder pointer.
Public Member Functions
void	computeHeight ()
	Compute the height of the cylinder.
void	computePose (Eigen::Vector3f origin, Eigen::Vector3f z_axis)
	Compute the pose from origin and z axis.
void	computePose (Eigen::Vector3f origin, std::vector< std::vector< Eigen::Vector3f > > &contours_3d)
	Compute the pose from origin and a 3D contour.
	Cylinder ()
	Construct empty Cylinder object.
	Cylinder (unsigned int id, Eigen::Vector3f origin, Eigen::Vector3f sym_axis, double radius, std::vector< std::vector< Eigen::Vector3f > > &contours_3d, std::vector< bool > holes, std::vector< float > color)
	Construct Cylinder object from parameters.
	Cylinder (unsigned int id, Eigen::Vector3f origin, Eigen::Vector3f sym_axis, double radius, std::vector< pcl::PointCloud< pcl::PointXYZ > > &contours_3d, std::vector< bool > holes, std::vector< float > color)
	Construct Cylinder object from parameters.
void	dbgOut (pcl::PointCloud< pcl::PointXYZRGB >::Ptr points, std::string &name)
	Debug output of points to file.
void	dumpParams (std::string name)
	Debug output of parameters to file.
virtual std::vector < std::vector< Eigen::Vector3f > >	getContours3D ()
	Get the contours of the cylinder as 3D points.
virtual void	getMergeCandidates (const std::vector< Polygon::Ptr > &cylinder_array, std::vector< int > &intersections)
	Find merge candidates.
virtual void	merge (std::vector< Polygon::Ptr > &poly_vec)
	Merge cylinders.
void	printAttributes (std::string &name)
	Debug Output to terminal.
virtual void	setContours3D (std::vector< std::vector< Eigen::Vector3f > > &contours_3d)
	Set the 2D contours of the cylinder from 3D points.
virtual void	setParamsFrom (Polygon::Ptr &p)
	Obtain the params of this from another cylinder.
virtual void	transform (Eigen::Affine3f &tf)
	Transform the cylinder by tf.
void	triangulate (list< TPPLPoly > &tri_list) const
	Triangulate surface polygons from the contours.
virtual void	updateAttributes (const Eigen::Vector3f &sym_axis, const Eigen::Vector3f &origin, const Eigen::Vector3f &z_axis)
	Compute Attributes (pose, sym axis) of cylinder.
Public Attributes
double	h_max_
double	h_min_
double	r_
Eigen::Vector3f	sym_axis_
Protected Member Functions
virtual void	computeAverage (const std::vector< Polygon::Ptr > &poly_vec, Polygon::Ptr &p_average)

Detailed Description

Class representing Cylinder shapes.

Note:: Cylinder Parameter Estimation can be performed.; Cylinder Merging is handled.

Definition at line 116 of file cylinder.h.

Member Typedef Documentation

typedef boost::shared_ptr<Cylinder> cob_3d_mapping::Cylinder::Ptr

Cylinder pointer.

Boost shared pointer to cylinder.

Reimplemented from cob_3d_mapping::Polygon.

Definition at line 124 of file cylinder.h.

Constructor & Destructor Documentation

cob_3d_mapping::Cylinder::Cylinder ( ) [inline]

Construct empty Cylinder object.

Definition at line 129 of file cylinder.h.

cob_3d_mapping::Cylinder::Cylinder	(	unsigned int	id,
		Eigen::Vector3f	origin,
		Eigen::Vector3f	sym_axis,
		double	radius,
		std::vector< std::vector< Eigen::Vector3f > > &	contours_3d,
		std::vector< bool >	holes,
		std::vector< float >	color
	)

Construct Cylinder object from parameters.

Parameters:

[in]	id	A unique id.
[in]	origin	The origin of the cylinder.
[in]	sym_axis	The symmetry axis of the cylinder.
[in]	radius	The radius of the cylinder.
[in]	contours_3d	The 3D contour points of the cylinder (represented by separate contours).
[in]	holes	A vector showing which contour is a hole.
[in]	color	The color of the cylinder.

Definition at line 115 of file cylinder.cpp.

cob_3d_mapping::Cylinder::Cylinder	(	unsigned int	id,
		Eigen::Vector3f	origin,
		Eigen::Vector3f	sym_axis,
		double	radius,
		std::vector< pcl::PointCloud< pcl::PointXYZ > > &	contours_3d,
		std::vector< bool >	holes,
		std::vector< float >	color
	)

Construct Cylinder object from parameters.

Parameters:

[in]	id	A unique id.
[in]	origin	The origin of the cylinder.
[in]	sym_axis	The symmetry axis of the cylinder.
[in]	radius	The radius of the cylinder.
[in]	contours_3d	The 3D contour points of the cylinder (represented by separate contours).
[in]	holes	A vector showing which contour is a hole.
[in]	color	The color of the cylinder.

Definition at line 139 of file cylinder.cpp.

Member Function Documentation

void cob_3d_mapping::Cylinder::computeAverage	(	const std::vector< Polygon::Ptr > &	poly_vec,
		Polygon::Ptr &	p_average
	)		`[protected, virtual]`

Definition at line 428 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::computeHeight ( )

Compute the height of the cylinder.

Definition at line 262 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::computePose	(	Eigen::Vector3f	origin,
		Eigen::Vector3f	z_axis
	)

Compute the pose from origin and z axis.

Parameters:

[in]	origin	The origin of the cylinder.
[in]	z_axis	The z_axis (perpendicular to the sym_axis) of the cylinder.

Definition at line 255 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::computePose	(	Eigen::Vector3f	origin,
		std::vector< std::vector< Eigen::Vector3f > > &	contours_3d
	)

Compute the pose from origin and a 3D contour.

Parameters:

[in]	origin	The origin of the cylinder.
[in]	contours_3d	The 3D contour of the cylinder.

Definition at line 244 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::dbgOut	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	points,
		std::string &	name
	)

Debug output of points to file.

Parameters:

[in]	points	Contour points of the Cylinder.
[in]	name	Name of the output file.

Definition at line 635 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::dumpParams ( std::string name )

Debug output of parameters to file.

Parameters:

[in] name Name of the output file.

Definition at line 656 of file cylinder.cpp.

std::vector< std::vector< Eigen::Vector3f > > cob_3d_mapping::Cylinder::getContours3D ( ) [virtual]

Get the contours of the cylinder as 3D points.

Returns:: The 3D contours.

Reimplemented from cob_3d_mapping::Polygon.

Definition at line 216 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::getMergeCandidates	(	const std::vector< Polygon::Ptr > &	cylinder_array,
		std::vector< int > &	intersections
	)		`[virtual]`

Find merge candidates.

Parameters:

[in]	cylinder_array	The cylinders to be checked.
[out]	intersections	Indices of merge candidates.

Definition at line 389 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::merge ( std::vector< Polygon::Ptr > & poly_vec ) [virtual]

Merge cylinders.

Parameters:

[in] poly_vec The cylinders to be merged with this.

Definition at line 482 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::printAttributes ( std::string & name )

Debug Output to terminal.

Parameters:

[in] name Name of the output file.

Definition at line 673 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::setContours3D ( std::vector< std::vector< Eigen::Vector3f > > & contours_3d ) [virtual]

Set the 2D contours of the cylinder from 3D points.

Parameters:

[in] contours_3d The 3D contours.

Reimplemented from cob_3d_mapping::Polygon.

Definition at line 186 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::setParamsFrom ( Polygon::Ptr & p ) [virtual]

Obtain the params of this from another cylinder.

Parameters:

[in] p The cylinder the parameters are copied from.

Reimplemented from cob_3d_mapping::Polygon.

Definition at line 298 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::transform ( Eigen::Affine3f & tf ) [virtual]

Transform the cylinder by tf.

Parameters:

[in] tf Transformation to be applied.

Definition at line 312 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::triangulate ( list< TPPLPoly > & tri_list ) const [virtual]

Triangulate surface polygons from the contours.

Parameters:

[out] tri_list The list of polygons.

Reimplemented from cob_3d_mapping::Polygon.

Definition at line 336 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::updateAttributes	(	const Eigen::Vector3f &	sym_axis,
		const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	z_axis
	)		`[virtual]`

Compute Attributes (pose, sym axis) of cylinder.

Compute attributes of cylinder depending on input parameters.

Parameters:

[in]	sym_axis	Symmetry axis of cylinder
[in]	origin	Origin of cylinder
[in]	z_axis	z axis of cylinder

Definition at line 281 of file cylinder.cpp.

Member Data Documentation

double cob_3d_mapping::Cylinder::h_max_

Point on top of cylinder

Definition at line 285 of file cylinder.h.

double cob_3d_mapping::Cylinder::h_min_

Point at the bottom of cylinder.

Definition at line 284 of file cylinder.h.

double cob_3d_mapping::Cylinder::r_

Radius of cylinder.

Definition at line 283 of file cylinder.h.

Eigen::Vector3f cob_3d_mapping::Cylinder::sym_axis_

Symmetry axis of cylinder. Direction vector of symmetry axis.

Definition at line 286 of file cylinder.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation