Functions
void	calculateAvgColors (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc, double &avg_r, double &avg_g, double &avg_b)
	Average color value calculator.
double	calculateRegistrationMetricDistanceError (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &base, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target)
	Point cloud distance error metric calculator.
void	calculateRegistrationMetricOverlap (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &base, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target, double &overlap, double &color_error, const double metric_overlap_search_radius=DEFAULT_METRIC_OVERLAP_SEARCH_RADIUS)
	Point cloud overlap metric calculator.
double	calculateStdDevColors (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc, double &std_dev_r, double &std_dev_g, double &std_dev_b)
	Color value standard deviation calculator.
double	calculateStdDevColors (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc, double &std_dev_r, double &std_dev_g, double &std_dev_b, const double avg_r, const double avg_g, const double avg_b)
	Color value standard deviation calculator.
bool	classifyMerge (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &base, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target)
	Classify the point cloud merge.
geometry_msgs::Point	computeCentroid (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &pc)
	Compute the centroid of the given point cloud.
void	filterPointCloudOutliers (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, const double filter_outlier_search_radius=DEFAULT_FILTER_OUTLIER_SEARCH_RADIUS, const double filter_outlier_min_num_neighbors=DEFAULT_FILTER_OUTLIER_MIN_NUM_NEIGHBORS)
	Filter point cloud outliers.
void	filterRedundantPoints (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, const double filter_redundant_search_radius=DEFAULT_FILTER_REDUNDANT_SEARCH_RADIUS)
	Filter redundant points from the point cloud.
void	pclPointCloudToROSPointCloud2 (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &in, sensor_msgs::PointCloud2 &out)
	Convert a PCL point cloud to a ROS point cloud message.
tf2::Transform	performICP (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &target, const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &source, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &result)
	Perform ICP on the given point clouds.
void	rosPointCloud2ToPCLPointCloud (const sensor_msgs::PointCloud2 in, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &out)
	Convert a ROS point cloud message to a PCL point cloud.
void	transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, const geometry_msgs::Point &centroid)
	Transform the point cloud to be centered about the origin.
void	transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc)
	Transform the point cloud to be centered about the origin.
void	transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, std::vector< graspdb::Grasp > &grasps, const geometry_msgs::Point &centroid)
	Transform the point cloud and grasps to be centered about the origin.
void	transformToOrigin (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pc, std::vector< graspdb::Grasp > &grasps)
	Transform the point cloud and grasps to be centered about the origin.
Variables
static const int	DEFAULT_FILTER_OUTLIER_MIN_NUM_NEIGHBORS = 6
static const double	DEFAULT_FILTER_OUTLIER_SEARCH_RADIUS = 0.01
static const double	DEFAULT_FILTER_REDUNDANT_SEARCH_RADIUS = 0.0004
static const double	DEFAULT_METRIC_OVERLAP_SEARCH_RADIUS = 0.005

Function Documentation

void rail::pick_and_place::point_cloud_metrics::calculateAvgColors	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	pc,
		double &	avg_r,
		double &	avg_g,
		double &	avg_b
	)

Average color value calculator.

Calculate the average red, green, and blue values of the point cloud.

Parameters:

pc	The point cloud.
avg_r	A reference to the average red value to store.
avg_g	A reference to the average green value to store.
avg_b	A reference to the average blue value to store.

Definition at line 179 of file PointCloudMetrics.cpp.

double rail::pick_and_place::point_cloud_metrics::calculateRegistrationMetricDistanceError	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	base,
		const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	target
	)

Point cloud distance error metric calculator.

Calculate the total distance between each point in target to the closest point in base.

Parameters:

base	The base point cloud.
target	The target point cloud..

Returns:: The total distance between each point in target to the closest point in base.

Definition at line 159 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::calculateRegistrationMetricOverlap	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	base,
		const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	target,
		double &	overlap,
		double &	color_error,
		const double	metric_overlap_search_radius = `DEFAULT_METRIC_OVERLAP_SEARCH_RADIUS`
	)

Point cloud overlap metric calculator.

Calculate the overlap metric for the given point clouds. This can either be the number of points that meet the overlap criteria normalized over the number of points, or the average error in the RGB color for the overlap points. References to each double to be filled must be provided.

Parameters:

base	The base point cloud.
target	The target point cloud.
overlap	The overlap metric score.
color_error	The color error metric score.
metric_overlap_search_radius	The search radius to consider a point to be overlapping (defaults to constant).

Definition at line 231 of file PointCloudMetrics.cpp.

double rail::pick_and_place::point_cloud_metrics::calculateStdDevColors	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	pc,
		double &	std_dev_r,
		double &	std_dev_g,
		double &	std_dev_b
	)

Color value standard deviation calculator.

Calculate the red, green, and blue value standard deviations of the point cloud.

Parameters:

pc	The point cloud.
std_dev_r	A reference to the standard deviation in the red value to store.
std_dev_g	A reference to the standard deviation in the green value to store.
std_dev_b	A reference to the standard deviation in the blue value to store.

Definition at line 200 of file PointCloudMetrics.cpp.

double rail::pick_and_place::point_cloud_metrics::calculateStdDevColors	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	pc,
		double &	std_dev_r,
		double &	std_dev_g,
		double &	std_dev_b,
		const double	avg_r,
		const double	avg_g,
		const double	avg_b
	)

Color value standard deviation calculator.

Calculate the red, green, and blue value standard deviations of the point cloud with the known averages.

Parameters:

pc	The point cloud.
std_dev_r	A reference to the standard deviation in the red value to store.
std_dev_g	A reference to the standard deviation in the green value to store.
std_dev_b	A reference to the standard deviation in the blue value to store.
avg_r	The average red color.
avg_g	The average green color.
avg_b	The average blue color.

Definition at line 209 of file PointCloudMetrics.cpp.

bool rail::pick_and_place::point_cloud_metrics::classifyMerge	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	base,
		const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	target
	)

Classify the point cloud merge.

Classify the merge between base and target. These point clouds should already be transformed accordingly. The decision is based on values from a trained decision tree on point cloud metrics.

Parameters:

base	The base point cloud.
target	The target point cloud.

Returns:: If the calculated metrics meet the criteria for a valid merge.

Definition at line 273 of file PointCloudMetrics.cpp.

geometry_msgs::Point rail::pick_and_place::point_cloud_metrics::computeCentroid ( const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr & pc )

Compute the centroid of the given point cloud.

Compute and return the centroid of the given point cloud.

Parameters:

pc	The point cloud to compute the centroid of.

Returns:: The centroid of the point cloud.

Definition at line 146 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::filterPointCloudOutliers	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pc,
		const double	filter_outlier_search_radius = `DEFAULT_FILTER_OUTLIER_SEARCH_RADIUS`,
		const double	filter_outlier_min_num_neighbors = `DEFAULT_FILTER_OUTLIER_MIN_NUM_NEIGHBORS`
	)

Filter point cloud outliers.

Filter outliers in the point cloud.

Parameters:

pc	The point cloud to remove outlier points from.
filter_outlier_search_radius	The search radius to be considered as an outlier point (defaults to constant).
filter_outlier_min_num_neighbors	The minimum neighbors to be consider as an outlier (defaults to constant).

Returns:: The centroid of the point cloud.

Definition at line 92 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::filterRedundantPoints	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pc,
		const double	filter_redundant_search_radius = `DEFAULT_FILTER_REDUNDANT_SEARCH_RADIUS`
	)

Filter redundant points from the point cloud.

Filter redundant points from the point cloud effectively downsampling it.

Parameters:

pc	The point cloud to remove redundant points from.
filter_redundant_search_radius	The search radius to be considered as a redundant point (defaults to constant).

Definition at line 120 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::pclPointCloudToROSPointCloud2	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	in,
		sensor_msgs::PointCloud2 &	out
	)

Convert a PCL point cloud to a ROS point cloud message.

Converts the given PCL point cloud to a ROS point cloud message.

Parameters:

in	The input PCL point cloud message.
out	The ROS point cloud message to create.

Definition at line 35 of file PointCloudMetrics.cpp.

tf2::Transform rail::pick_and_place::point_cloud_metrics::performICP	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	target,
		const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	source,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	result
	)

Perform ICP on the given point clouds.

Perform ICP on the given point clouds and store the resulting transformed point cloud in the result pointer.

Parameters:

target	The target point cloud.
source	The source point cloud (to transform to the target).
result	The transformed source point cloud.

Returns:: The transform used to move source to target.

Definition at line 289 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::rosPointCloud2ToPCLPointCloud	(	const sensor_msgs::PointCloud2	in,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	out
	)

Convert a ROS point cloud message to a PCL point cloud.

Converts the given ROS point cloud message to a PCL point cloud.

Parameters:

in	The input ROS point cloud message.
out	The PCL point cloud to create.

Definition at line 27 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::transformToOrigin	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pc,
		const geometry_msgs::Point &	centroid
	)

Transform the point cloud to be centered about the origin.

Transform the point cloud to be centered about the origin based on the given centroid of the point cloud.

Parameters:

pc	The point cloud to transform.
centroid	The known centroid of the point cloud.

Definition at line 45 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::transformToOrigin ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & pc )

Transform the point cloud to be centered about the origin.

Transform the point cloud to be centered about the origin based on the centroid of the point cloud.

Parameters:

pc	The point cloud to transform.

Definition at line 59 of file PointCloudMetrics.cpp.

void rail::pick_and_place::point_cloud_metrics::transformToOrigin	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pc,
		std::vector< graspdb::Grasp > &	grasps,
		const geometry_msgs::Point &	centroid
	)

Transform the point cloud and grasps to be centered about the origin.

Transform the point cloud and grasps to be centered about the origin based on the given centroid of the point cloud.

Parameters:

pc	The point cloud to transform.
grasps	The grasps to transform.
centroid	The known centroid of the point cloud.

void rail::pick_and_place::point_cloud_metrics::transformToOrigin	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pc,
		std::vector< graspdb::Grasp > &	grasps
	)