Bundles methods that are applied to the input data from the sensor. More...

#include <input_data_processing.h>

Public Types
typedef pcl::PointCloud < PointXYZRGBA >	CloudXYZRGBA
typedef CloudXYZRGBA::ConstPtr	CloudXYZRGBAConstPtr
typedef CloudXYZRGBA::Ptr	CloudXYZRGBAPtr
typedef pcl::PointCloud < PointXYZRGBNormal >	CloudXYZRGBNormal
typedef CloudXYZRGBNormal::ConstPtr	CloudXYZRGBNormalConstPtr
typedef CloudXYZRGBNormal::Ptr	CloudXYZRGBNormalPtr
typedef pcl::PointXYZRGBA	PointXYZRGBA
typedef pcl::PointXYZRGBNormal	PointXYZRGBNormal
Public Member Functions
bool	calculateNormals (const CloudXYZRGBAConstPtr &cloud_in, CloudXYZRGBNormalPtr &cloud_out) const
	Calculate the normals of the input cloud.
	InputDataProcessing ()
	Constructor.
bool	segment (const CloudXYZRGBAConstPtr &cloud_in, CloudXYZRGBNormalPtr &cloud_out, CloudXYZRGBNormalPtr &cloud_discarded) const
	Apply the segmentation on the input cloud (XYZ and HSV).

void	setXMin (const float x_min)
	Points outside of X - Y - Z - min / max are discarded. The unit is cm. The min values must be smaller than the max values.
void	setXMax (const float x_max)
void	setYMin (const float y_min)
void	setYMax (const float y_max)
void	setZMin (const float z_min)
void	setZMax (const float z_max)
float	getXMin () const
float	getXMax () const
float	getYMin () const
float	getYMax () const
float	getZMin () const
float	getZMax () const

void	setHMin (const float h_min)
	Simple color segmentation in the HSV color space. Points inside of H - S - V min / max are discarded. H must be in the range 0 and 360, S and V in the range 0 and 1.
void	setHMax (const float h_max)
void	setSMin (const float s_min)
void	setSMax (const float s_max)
void	setVMin (const float v_min)
void	setVMax (const float v_max)
float	getHMin () const
float	getHMax () const
float	getSMin () const
float	getSMax () const
float	getVMin () const
float	getVMax () const

void	setColorSegmentationInverted (const bool hsv_inverted)
	If true the color values inside of H - S - V min / max are accepted instead of discarded.
bool	getColorSegmentationInverted () const

void	setColorSegmentationEnabled (const bool hsv_enabled)
	Enable / disable the color segmentation.
bool	getColorSegmentationEnabled () const

void	setXYZErodeSize (const unsigned int size)
	The XYZ mask is eroded with a kernel of this size.
unsigned int	getXYZErodeSize () const

void	setHSVDilateSize (const unsigned int size)
	The HSV mask is dilated with a kernel of this size.
unsigned int	getHSVDilateSize () const
Private Types
typedef pcl::PointCloud< Normal >	CloudNormals
typedef boost::shared_ptr < const CloudNormals >	CloudNormalsConstPtr
typedef boost::shared_ptr < CloudNormals >	CloudNormalsPtr
typedef Eigen::Matrix< bool, Eigen::Dynamic, Eigen::Dynamic >	MatrixXb
typedef Eigen::MatrixXi	MatrixXi
typedef pcl::Normal	Normal
typedef pcl::IntegralImageNormalEstimation < PointXYZRGBA, Normal >	NormalEstimation
typedef boost::shared_ptr < const NormalEstimation >	NormalEstimationConstPtr
typedef boost::shared_ptr < NormalEstimation >	NormalEstimationPtr
Private Member Functions
void	dilate (MatrixXb &mask, const int k) const
	Dilates the input mask k times with a diamond shaped structuring element.
void	erode (MatrixXb &mask, const int k) const
	Erodes the input mask k times with a diamond shaped structuring element.
MatrixXi	manhattan (const MatrixXb &mat, const bool comp) const
	Calculates the manhattan distance map for the input matrix.
void	RGBToHSV (const unsigned char r, const unsigned char g, const unsigned char b, float &h, float &s, float &v) const
	Conversion from the RGB to HSV color space.
Private Attributes
float	h_max_
float	h_min_
bool	hsv_enabled_
bool	hsv_inverted_
NormalEstimationPtr	normal_estimation_
float	s_max_
float	s_min_
unsigned int	size_dilate_
unsigned int	size_erode_
float	v_max_
float	v_min_
float	x_max_
float	x_min_
float	y_max_
float	y_min_
float	z_max_
float	z_min_

Detailed Description

Bundles methods that are applied to the input data from the sensor.

Author:: Martin Saelzle

Definition at line 71 of file input_data_processing.h.

Member Typedef Documentation

typedef pcl::PointCloud<Normal> pcl::ihs::InputDataProcessing::CloudNormals [private]

Definition at line 173 of file input_data_processing.h.

typedef boost::shared_ptr<const CloudNormals> pcl::ihs::InputDataProcessing::CloudNormalsConstPtr [private]

Definition at line 175 of file input_data_processing.h.

typedef boost::shared_ptr<CloudNormals> pcl::ihs::InputDataProcessing::CloudNormalsPtr [private]

Definition at line 174 of file input_data_processing.h.

typedef pcl::PointCloud<PointXYZRGBA> pcl::ihs::InputDataProcessing::CloudXYZRGBA

Definition at line 76 of file input_data_processing.h.

typedef CloudXYZRGBA::ConstPtr pcl::ihs::InputDataProcessing::CloudXYZRGBAConstPtr

Definition at line 78 of file input_data_processing.h.

typedef CloudXYZRGBA::Ptr pcl::ihs::InputDataProcessing::CloudXYZRGBAPtr

Definition at line 77 of file input_data_processing.h.

typedef pcl::PointCloud<PointXYZRGBNormal> pcl::ihs::InputDataProcessing::CloudXYZRGBNormal

Definition at line 81 of file input_data_processing.h.

typedef CloudXYZRGBNormal::ConstPtr pcl::ihs::InputDataProcessing::CloudXYZRGBNormalConstPtr

Definition at line 83 of file input_data_processing.h.

typedef CloudXYZRGBNormal::Ptr pcl::ihs::InputDataProcessing::CloudXYZRGBNormalPtr

Definition at line 82 of file input_data_processing.h.

typedef Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic> pcl::ihs::InputDataProcessing::MatrixXb [private]

Definition at line 181 of file input_data_processing.h.

typedef Eigen::MatrixXi pcl::ihs::InputDataProcessing::MatrixXi [private]

Definition at line 182 of file input_data_processing.h.

typedef pcl::Normal pcl::ihs::InputDataProcessing::Normal [private]

Definition at line 172 of file input_data_processing.h.

typedef pcl::IntegralImageNormalEstimation<PointXYZRGBA, Normal> pcl::ihs::InputDataProcessing::NormalEstimation [private]

Definition at line 177 of file input_data_processing.h.

typedef boost::shared_ptr<const NormalEstimation> pcl::ihs::InputDataProcessing::NormalEstimationConstPtr [private]

Definition at line 179 of file input_data_processing.h.

typedef boost::shared_ptr<NormalEstimation> pcl::ihs::InputDataProcessing::NormalEstimationPtr [private]

Definition at line 178 of file input_data_processing.h.

typedef pcl::PointXYZRGBA pcl::ihs::InputDataProcessing::PointXYZRGBA

Definition at line 75 of file input_data_processing.h.

typedef pcl::PointXYZRGBNormal pcl::ihs::InputDataProcessing::PointXYZRGBNormal

Definition at line 80 of file input_data_processing.h.

Constructor & Destructor Documentation

pcl::ihs::InputDataProcessing::InputDataProcessing ( )

Constructor.

Definition at line 49 of file input_data_processing.cpp.

Member Function Documentation

bool pcl::ihs::InputDataProcessing::calculateNormals	(	const CloudXYZRGBAConstPtr &	cloud_in,
		CloudXYZRGBNormalPtr &	cloud_out
	)		const

Calculate the normals of the input cloud.

Parameters:

[in]	cloud_in	The input cloud.
[out]	cloud_out	Input cloud with normals appended.

Returns:: true if success.

Note:: Converts from m to cm.

Definition at line 214 of file input_data_processing.cpp.

void pcl::ihs::InputDataProcessing::dilate	(	MatrixXb &	mask,
		const int	k
	)		const `[private]`

Dilates the input mask k times with a diamond shaped structuring element.

See also:: http://ostermiller.org/dilate_and_erode.html

Definition at line 277 of file input_data_processing.cpp.

void pcl::ihs::InputDataProcessing::erode	(	MatrixXb &	mask,
		const int	k
	)		const `[private]`

Erodes the input mask k times with a diamond shaped structuring element.

See also:: http://ostermiller.org/dilate_and_erode.html

Definition at line 269 of file input_data_processing.cpp.

bool pcl::ihs::InputDataProcessing::getColorSegmentationEnabled ( ) const [inline]

Definition at line 155 of file input_data_processing.h.

bool pcl::ihs::InputDataProcessing::getColorSegmentationInverted ( ) const [inline]

Definition at line 149 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getHMax ( ) const [inline]

Definition at line 139 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getHMin ( ) const [inline]

Definition at line 138 of file input_data_processing.h.

unsigned int pcl::ihs::InputDataProcessing::getHSVDilateSize ( ) const [inline]

Definition at line 167 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getSMax ( ) const [inline]

Definition at line 141 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getSMin ( ) const [inline]

Definition at line 140 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getVMax ( ) const [inline]

Definition at line 143 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getVMin ( ) const [inline]

Definition at line 142 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getXMax ( ) const [inline]

Definition at line 120 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getXMin ( ) const [inline]

Definition at line 119 of file input_data_processing.h.

unsigned int pcl::ihs::InputDataProcessing::getXYZErodeSize ( ) const [inline]

Definition at line 161 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getYMax ( ) const [inline]

Definition at line 122 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getYMin ( ) const [inline]

Definition at line 121 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getZMax ( ) const [inline]

Definition at line 124 of file input_data_processing.h.

float pcl::ihs::InputDataProcessing::getZMin ( ) const [inline]

Definition at line 123 of file input_data_processing.h.

pcl::ihs::InputDataProcessing::MatrixXi pcl::ihs::InputDataProcessing::manhattan	(	const MatrixXb &	mat,
		const bool	comp
	)		const `[private]`

Calculates the manhattan distance map for the input matrix.

Parameters:

[in]	mat	Input matrix.
[in]	comp	Compared value. mat==comp will have zero distance.

Returns:: Matrix containing the distances to mat==comp

See also:: http://ostermiller.org/dilate_and_erode.html

Definition at line 285 of file input_data_processing.cpp.

void pcl::ihs::InputDataProcessing::RGBToHSV	(	const unsigned char	r,
		const unsigned char	g,
		const unsigned char	b,
		float &	h,
		float &	s,
		float &	v
	)		const `[private]`

Conversion from the RGB to HSV color space.

Definition at line 324 of file input_data_processing.cpp.

bool pcl::ihs::InputDataProcessing::segment	(	const CloudXYZRGBAConstPtr &	cloud_in,
		CloudXYZRGBNormalPtr &	cloud_out,
		CloudXYZRGBNormalPtr &	cloud_discarded
	)		const

Apply the segmentation on the input cloud (XYZ and HSV).

Parameters:

[in]	cloud_in	The input cloud.
[out]	cloud_out	The segmented cloud.
[out]	cloud_discarded	Cloud containing all points that were removed during the HSV segmentation. The points in the XYZ segmentation are NOT used!

Returns:: true if success.

Note:: Converts from m to cm.

Definition at line 81 of file input_data_processing.cpp.

void pcl::ihs::InputDataProcessing::setColorSegmentationEnabled ( const bool hsv_enabled ) [inline]

Enable / disable the color segmentation.

Definition at line 154 of file input_data_processing.h.

void pcl::ihs::InputDataProcessing::setColorSegmentationInverted ( const bool hsv_inverted ) [inline]

If true the color values inside of H - S - V min / max are accepted instead of discarded.

Definition at line 148 of file input_data_processing.h.

void pcl::ihs::InputDataProcessing::setHMax ( const float h_max ) [inline]

Definition at line 132 of file input_data_processing.h.

void pcl::ihs::InputDataProcessing::setHMin ( const float h_min ) [inline]

Simple color segmentation in the HSV color space. Points inside of H - S - V min / max are discarded. H must be in the range 0 and 360, S and V in the range 0 and 1.