TableObjectCluster< Point > Class Template Reference

#include <table_object_cluster.h>

List of all members.

Public Types
typedef pcl::PointCloud< Point > ::ConstPtr	PointCloudConstPtr
typedef pcl::PointCloud< Point > ::Ptr	PointCloudPtr
Public Member Functions
void	calculateBoundingBox (const PointCloudPtr &cloud, const pcl::PointIndices &indices, const Eigen::Vector3f &plane_normal, const Eigen::Vector3f &plane_point, Eigen::Vector3f &position, Eigen::Quaternion< float > &orientation, Eigen::Vector3f &size)
void	calculateBoundingBoxesOld (pcl::PointIndices::Ptr &pc_roi, std::vector< PointCloudPtr > &object_clusters, std::vector< pcl::PointCloud< pcl::PointXYZ > > &bounding_boxes)
	removes known objects by bounding box
void	extractClusters (const pcl::PointIndices::Ptr &pc_roi, std::vector< PointCloudPtr > &object_clusters, std::vector< pcl::PointIndices > &object_cluster_indices)
void	extractTableRoi (PointCloudPtr &hull, pcl::PointIndices &pc_roi)
	extracts objects at top of a plane
void	extractTableRoi2 (const PointCloudConstPtr &pc_in, PointCloudPtr &hull, Eigen::Vector4f &plane_coeffs, pcl::PointCloud< Point > &pc_roi)
	extracts objects at top of a plane
void	removeKnownObjects (const PointCloudConstPtr &pc_roi, std::vector< BoundingBox > &bounding_boxes, const PointCloudPtr &pc_roi_red)
	removes known objects by bounding box
void	setClusterParams (int min_cluster_size, double cluster_tolerance)
	sets parameters for filtering
void	setInputCloud (const PointCloudPtr &cloud)
void	setPrismHeight (double height_min, double height_max)
	sets parameters for filtering
	TableObjectCluster ()
	~TableObjectCluster ()
Protected Attributes
double	cluster_tolerance_
	paramter for object detection
double	height_max_
	paramter for object detection
double	height_min_
PointCloudPtr	input_
int	min_cluster_size_
	paramter for object detection

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Detailed Description

template<typename Point>
class TableObjectCluster< Point >

Definition at line 82 of file table_object_cluster.h.

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Member Typedef Documentation

template<typename Point >

typedef pcl::PointCloud<Point>::ConstPtr TableObjectCluster< Point >::PointCloudConstPtr

Definition at line 87 of file table_object_cluster.h.

template<typename Point >

typedef pcl::PointCloud<Point>::Ptr TableObjectCluster< Point >::PointCloudPtr

Definition at line 86 of file table_object_cluster.h.

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Constructor & Destructor Documentation

template<typename Point >

TableObjectCluster< Point >::TableObjectCluster

(

)

[inline]

Definition at line 89 of file table_object_cluster.h.

template<typename Point >

TableObjectCluster< Point >::~TableObjectCluster

(

)

[inline]

Definition at line 97 of file table_object_cluster.h.

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Member Function Documentation

template<typename Point >

void TableObjectCluster< Point >::calculateBoundingBox	(	const PointCloudPtr &	cloud,
		const pcl::PointIndices &	indices,
		const Eigen::Vector3f &	plane_normal,
		const Eigen::Vector3f &	plane_point,
		Eigen::Vector3f &	position,
		Eigen::Quaternion< float > &	orientation,
		Eigen::Vector3f &	size
	)

Definition at line 191 of file table_object_cluster.cpp.

template<typename Point >

void TableObjectCluster< Point >::calculateBoundingBoxesOld	(	pcl::PointIndices::Ptr &	pc_roi,
		std::vector< PointCloudPtr > &	object_clusters,
		std::vector< pcl::PointCloud< pcl::PointXYZ > > &	bounding_boxes
	)

removes known objects by bounding box

removes known objects by bounding box

Parameters:

pc_roi	input point cloud with objects
bounding_boxes	bounding boxes of known objects
pc_roi_red	output point cloud without known objects

Returns:

nothing

Definition at line 311 of file table_object_cluster.cpp.

template<typename Point >

void TableObjectCluster< Point >::extractClusters	(	const pcl::PointIndices::Ptr &	pc_roi,
		std::vector< PointCloudPtr > &	object_clusters,
		std::vector< pcl::PointIndices > &	object_cluster_indices
	)

Definition at line 277 of file table_object_cluster.cpp.

template<typename Point >

void TableObjectCluster< Point >::extractTableRoi	(	PointCloudPtr &	hull,
		pcl::PointIndices &	pc_roi
	)

extracts objects at top of a plane

extracts objects at top of a plane using a prism

Parameters:

pc_in	input point cloud
hull	hull describing plane
pc_roi	output point cloud containing extracted objects

Returns:

nothing

Definition at line 90 of file table_object_cluster.cpp.

template<typename Point >

void TableObjectCluster< Point >::extractTableRoi2	(	const PointCloudConstPtr &	pc_in,
		PointCloudPtr &	hull,
		Eigen::Vector4f &	plane_coeffs,
		pcl::PointCloud< Point > &	pc_roi
	)

extracts objects at top of a plane

extracts objects at top of a plane using distance

Parameters:

pc_in	input point cloud
hull	hull describing plane
plane_coeffs	coefficients describing plane
pc_roi	output point cloud containing extracted objects

Returns:

nothing

Definition at line 127 of file table_object_cluster.cpp.

template<typename Point >

void TableObjectCluster< Point >::removeKnownObjects	(	const PointCloudConstPtr &	pc_roi,
		std::vector< BoundingBox > &	bounding_boxes,
		const PointCloudPtr &	pc_roi_red
	)

removes known objects by bounding box

removes known objects by bounding box

Parameters:

pc_roi	input point cloud with objects
bounding_boxes	bounding boxes of known objects
pc_roi_red	output point cloud without known objects

Returns:

nothing

Definition at line 167 of file table_object_cluster.cpp.

template<typename Point >

void TableObjectCluster< Point >::setClusterParams	(	int	min_cluster_size,
		double	cluster_tolerance
	)		[inline]

sets parameters for filtering

sets parameters for filtering

Parameters:

min_cluster_size
cluster_tolerance

Returns:

nothing

Definition at line 211 of file table_object_cluster.h.

template<typename Point >

void TableObjectCluster< Point >::setInputCloud

(

const PointCloudPtr &

cloud

)

[inline]

Definition at line 181 of file table_object_cluster.h.

template<typename Point >

void TableObjectCluster< Point >::setPrismHeight	(	double	height_min,
		double	height_max
	)		[inline]

sets parameters for filtering

sets parameters for filtering

Parameters:

height_min
height_max

Returns:

nothing

Definition at line 194 of file table_object_cluster.h.

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Member Data Documentation

template<typename Point >

double TableObjectCluster< Point >::cluster_tolerance_ [protected]

paramter for object detection

Definition at line 222 of file table_object_cluster.h.

template<typename Point >

double TableObjectCluster< Point >::height_max_ [protected]

paramter for object detection

Definition at line 220 of file table_object_cluster.h.

template<typename Point >

double TableObjectCluster< Point >::height_min_ [protected]

Definition at line 219 of file table_object_cluster.h.

template<typename Point >

PointCloudPtr TableObjectCluster< Point >::input_ [protected]

Definition at line 218 of file table_object_cluster.h.

template<typename Point >

int TableObjectCluster< Point >::min_cluster_size_ [protected]

paramter for object detection

Definition at line 221 of file table_object_cluster.h.

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

• table_object_cluster.h
• table_object_cluster.cpp