jsk_pcl_ros::CubeHypothesis Class Reference

#include <edgebased_cube_finder.h>

Inheritance diagram for jsk_pcl_ros::CubeHypothesis:

List of all members.

Public Types
typedef boost::shared_ptr < CubeHypothesis >	Ptr
Public Member Functions
virtual jsk_recognition_utils::PointPair	computeAxisEndPoints (const jsk_recognition_utils::Line &axis, const jsk_recognition_utils::PointPair &a_candidates, const jsk_recognition_utils::PointPair &b_candidates)
	CubeHypothesis (const IndicesPair &pair, const CoefficientsPair &coefficients_pair, const double outlier_threshold)
virtual void	estimate (const pcl::PointCloud< pcl::PointXYZRGB > &cloud)=0
virtual double	evaluatePointOnPlanes (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, jsk_recognition_utils::ConvexPolygon &polygon_a, jsk_recognition_utils::ConvexPolygon &polygon_b)
virtual jsk_recognition_utils::Cube::Ptr	getCube ()
virtual double	getValue ()
virtual	~CubeHypothesis ()
Protected Member Functions
virtual jsk_recognition_utils::ConvexPolygon::Ptr	buildConvexPolygon (const jsk_recognition_utils::PointPair &a_edge_pair, const jsk_recognition_utils::PointPair &b_edge_pair)
virtual void	computeCentroid (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointIndices::Ptr &indices, Eigen::Vector3f &output)
virtual void	getLinePoints (const jsk_recognition_utils::Line &line, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointIndices::Ptr indices, jsk_recognition_utils::Vertices &output)
Protected Attributes
const CoefficientsPair	coefficients_pair_
jsk_recognition_utils::Cube::Ptr	cube_
const IndicesPair	indices_pair_
double	outlier_threshold_
double	value_

---

Detailed Description

Definition at line 83 of file edgebased_cube_finder.h.

---

Member Typedef Documentation

typedef boost::shared_ptr<CubeHypothesis> jsk_pcl_ros::CubeHypothesis::Ptr

Reimplemented in jsk_pcl_ros::DiagnoalCubeHypothesis, and jsk_pcl_ros::PlanarCubeHypothesis.

Definition at line 86 of file edgebased_cube_finder.h.

---

Constructor & Destructor Documentation

jsk_pcl_ros::CubeHypothesis::CubeHypothesis	(	const IndicesPair &	pair,
		const CoefficientsPair &	coefficients_pair,
		const double	outlier_threshold
	)

Definition at line 57 of file edgebased_cube_finder_nodelet.cpp.

jsk_pcl_ros::CubeHypothesis::~CubeHypothesis

(

)

[virtual]

Definition at line 66 of file edgebased_cube_finder_nodelet.cpp.

---

Member Function Documentation

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::CubeHypothesis::buildConvexPolygon	(	const jsk_recognition_utils::PointPair &	a_edge_pair,
		const jsk_recognition_utils::PointPair &	b_edge_pair
	)		[protected, virtual]

Definition at line 107 of file edgebased_cube_finder_nodelet.cpp.

jsk_recognition_utils::PointPair jsk_pcl_ros::CubeHypothesis::computeAxisEndPoints	(	const jsk_recognition_utils::Line &	axis,
		const jsk_recognition_utils::PointPair &	a_candidates,
		const jsk_recognition_utils::PointPair &	b_candidates
	)		[virtual]

Definition at line 143 of file edgebased_cube_finder_nodelet.cpp.

void jsk_pcl_ros::CubeHypothesis::computeCentroid	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::PointIndices::Ptr &	indices,
		Eigen::Vector3f &	output
	)		[protected, virtual]

Definition at line 70 of file edgebased_cube_finder_nodelet.cpp.

virtual void jsk_pcl_ros::CubeHypothesis::estimate

(

const pcl::PointCloud< pcl::PointXYZRGB > &

cloud

)

[pure virtual]

Implemented in jsk_pcl_ros::DiagnoalCubeHypothesis, and jsk_pcl_ros::PlanarCubeHypothesis.

double jsk_pcl_ros::CubeHypothesis::evaluatePointOnPlanes	(	const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		jsk_recognition_utils::ConvexPolygon &	polygon_a,
		jsk_recognition_utils::ConvexPolygon &	polygon_b
	)		[virtual]

Definition at line 119 of file edgebased_cube_finder_nodelet.cpp.

virtual jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::CubeHypothesis::getCube

(

)

[inline, virtual]

Definition at line 92 of file edgebased_cube_finder.h.

void jsk_pcl_ros::CubeHypothesis::getLinePoints	(	const jsk_recognition_utils::Line &	line,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		const pcl::PointIndices::Ptr	indices,
		jsk_recognition_utils::Vertices &	output
	)		[protected, virtual]

Definition at line 86 of file edgebased_cube_finder_nodelet.cpp.

virtual double jsk_pcl_ros::CubeHypothesis::getValue

(

)

[inline, virtual]

Definition at line 91 of file edgebased_cube_finder.h.

---

Member Data Documentation

const CoefficientsPair jsk_pcl_ros::CubeHypothesis::coefficients_pair_ [protected]

Definition at line 122 of file edgebased_cube_finder.h.

jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::CubeHypothesis::cube_ [protected]

Definition at line 124 of file edgebased_cube_finder.h.

const IndicesPair jsk_pcl_ros::CubeHypothesis::indices_pair_ [protected]

Definition at line 121 of file edgebased_cube_finder.h.

double jsk_pcl_ros::CubeHypothesis::outlier_threshold_ [protected]

Definition at line 123 of file edgebased_cube_finder.h.

double jsk_pcl_ros::CubeHypothesis::value_ [protected]

Definition at line 120 of file edgebased_cube_finder.h.

---

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

• edgebased_cube_finder.h
• edgebased_cube_finder_nodelet.cpp