Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes
jsk_recognition_utils::GridPlane Class Reference

Grid based representation of planar region. More...

#include <grid_plane.h>

List of all members.

Public Types

typedef boost::tuple< int, int > IndexPair
typedef std::set< IndexPairIndexPairSet
typedef boost::shared_ptr
< GridPlane
Ptr

Public Member Functions

virtual void addIndexPair (IndexPair pair)
 Add IndexPair to this instance.
virtual GridPlane::Ptr clone ()
virtual GridPlane::Ptr dilate (int num)
 Dilate grid cells with specified number of pixels.
virtual GridPlane::Ptr erode (int num)
 Erode grid cells with specified number of pixels.
virtual void fillCellsFromCube (Cube &cube)
virtual size_t fillCellsFromPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, double distance_threshold)
virtual size_t fillCellsFromPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, double distance_threshold, std::set< int > &non_plane_indices)
virtual size_t fillCellsFromPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, double distance_threshold, double normal_threshold, std::set< int > &non_plane_indices)
virtual ConvexPolygon::Ptr getPolygon ()
 return ConvexPolygon pointer of this instance.
virtual double getResolution ()
 GridPlane (ConvexPolygon::Ptr plane, const double resolution)
virtual bool isOccupied (const IndexPair &pair)
virtual bool isOccupied (const Eigen::Vector3f &p)
 p should be local coordinate
virtual bool isOccupiedGlobal (const Eigen::Vector3f &p)
 p should be global coordinate
virtual IndexPair projectLocalPointAsIndexPair (const Eigen::Vector3f &p)
 Project 3-D point to GridPlane::IndexPair. p should be represented in local coordinates.
virtual
jsk_recognition_msgs::SimpleOccupancyGrid 
toROSMsg ()
virtual Eigen::Vector3f unprojectIndexPairAsGlobalPoint (const IndexPair &pair)
 Unproject GridPlane::IndexPair to 3-D global point.
virtual Eigen::Vector3f unprojectIndexPairAsLocalPoint (const IndexPair &pair)
 Unproject GridPlane::IndexPair to 3-D local point.
virtual ~GridPlane ()

Static Public Member Functions

static GridPlane fromROSMsg (const jsk_recognition_msgs::SimpleOccupancyGrid &rosmsg, const Eigen::Affine3f &offset)
 Construct GridPlane object from jsk_recognition_msgs::SimpleOccupancyGrid.

Protected Attributes

IndexPairSet cells_
ConvexPolygon::Ptr convex_
double resolution_

Detailed Description

Grid based representation of planar region.

Each cell represents a square region as belows: +--------+ | | | + | | | +--------+

The width and height of the cell is equivalent to resolution_, and the value of cells_ represents a center point. (i, j) means rectanglar region of (x, y) which satisfies followings: i * resolution - 0.5 * resolution <= x < i * resolution + 0.5 * resolution j * resolution - 0.5 * resolution <= y < j * resolution + 0.5 * resolution

Definition at line 73 of file grid_plane.h.


Member Typedef Documentation

typedef boost::tuple<int, int> jsk_recognition_utils::GridPlane::IndexPair

Definition at line 77 of file grid_plane.h.

Definition at line 78 of file grid_plane.h.

Definition at line 76 of file grid_plane.h.


Constructor & Destructor Documentation

jsk_recognition_utils::GridPlane::GridPlane ( ConvexPolygon::Ptr  plane,
const double  resolution 
)

Definition at line 43 of file grid_plane.cpp.

Definition at line 49 of file grid_plane.cpp.


Member Function Documentation

Add IndexPair to this instance.

Definition at line 65 of file grid_plane.cpp.

Definition at line 144 of file grid_plane.cpp.

Dilate grid cells with specified number of pixels.

Definition at line 70 of file grid_plane.cpp.

Erode grid cells with specified number of pixels.

Definition at line 91 of file grid_plane.cpp.

Definition at line 166 of file grid_plane.cpp.

size_t jsk_recognition_utils::GridPlane::fillCellsFromPointCloud ( pcl::PointCloud< pcl::PointNormal >::Ptr cloud,
double  distance_threshold 
) [virtual]

Definition at line 288 of file grid_plane.cpp.

size_t jsk_recognition_utils::GridPlane::fillCellsFromPointCloud ( pcl::PointCloud< pcl::PointNormal >::Ptr cloud,
double  distance_threshold,
std::set< int > &  non_plane_indices 
) [virtual]

Definition at line 218 of file grid_plane.cpp.

size_t jsk_recognition_utils::GridPlane::fillCellsFromPointCloud ( pcl::PointCloud< pcl::PointNormal >::Ptr cloud,
double  distance_threshold,
double  normal_threshold,
std::set< int > &  non_plane_indices 
) [virtual]

Definition at line 227 of file grid_plane.cpp.

GridPlane jsk_recognition_utils::GridPlane::fromROSMsg ( const jsk_recognition_msgs::SimpleOccupancyGrid &  rosmsg,
const Eigen::Affine3f &  offset = Eigen::Affine3f::Identity() 
) [static]

Construct GridPlane object from jsk_recognition_msgs::SimpleOccupancyGrid.

Definition at line 320 of file grid_plane.cpp.

return ConvexPolygon pointer of this instance.

Definition at line 154 of file grid_plane.h.

virtual double jsk_recognition_utils::GridPlane::getResolution ( ) [inline, virtual]

Definition at line 95 of file grid_plane.h.

bool jsk_recognition_utils::GridPlane::isOccupied ( const IndexPair pair) [virtual]

Definition at line 118 of file grid_plane.cpp.

bool jsk_recognition_utils::GridPlane::isOccupied ( const Eigen::Vector3f &  p) [virtual]

p should be local coordinate

Definition at line 133 of file grid_plane.cpp.

bool jsk_recognition_utils::GridPlane::isOccupiedGlobal ( const Eigen::Vector3f &  p) [virtual]

p should be global coordinate

Definition at line 139 of file grid_plane.cpp.

Project 3-D point to GridPlane::IndexPair. p should be represented in local coordinates.

Definition at line 54 of file grid_plane.cpp.

jsk_recognition_msgs::SimpleOccupancyGrid jsk_recognition_utils::GridPlane::toROSMsg ( ) [virtual]

Definition at line 296 of file grid_plane.cpp.

Unproject GridPlane::IndexPair to 3-D global point.

Definition at line 159 of file grid_plane.cpp.

Unproject GridPlane::IndexPair to 3-D local point.

Definition at line 151 of file grid_plane.cpp.


Member Data Documentation

Definition at line 163 of file grid_plane.h.

Definition at line 162 of file grid_plane.h.

Definition at line 164 of file grid_plane.h.


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


jsk_recognition_utils
Author(s):
autogenerated on Tue Jul 2 2019 19:40:37