cylinder.h
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35 
36 #ifndef JSK_RECOGNITION_UTILS_GEO_CYLINDER_H_
37 #define JSK_RECOGNITION_UTILS_GEO_CYLINDER_H_
38 
39 #include <Eigen/Geometry>
40 #include <pcl/point_cloud.h>
41 #include <pcl/PointIndices.h>
42 #include <pcl/point_types.h>
43 #include <visualization_msgs/Marker.h>
44 
45 namespace jsk_recognition_utils
46 {
47  class Cylinder // infinite
48  {
49  public:
51  Cylinder(Eigen::Vector3f point, Eigen::Vector3f direction, double radius);
52 
53  virtual void filterPointCloud(const pcl::PointCloud<pcl::PointXYZ>& cloud,
54  const double threshold,
55  pcl::PointIndices& output);
56  virtual void estimateCenterAndHeight(const pcl::PointCloud<pcl::PointXYZ>& cloud,
57  const pcl::PointIndices& indices,
58  Eigen::Vector3f& center,
59  double& height);
60  virtual void toMarker(visualization_msgs::Marker& marker,
61  const Eigen::Vector3f& center,
62  const Eigen::Vector3f& uz,
63  const double height);
64  virtual Eigen::Vector3f getDirection();
65  virtual double getRadius() { return radius_; }
66  protected:
67  Eigen::Vector3f point_;
68  Eigen::Vector3f direction_;
69  double radius_;
70  private:
71 
72  };
73 }
74 
75 #endif
Cylinder(Eigen::Vector3f point, Eigen::Vector3f direction, double radius)
Definition: cylinder.cpp:43
virtual void toMarker(visualization_msgs::Marker &marker, const Eigen::Vector3f &center, const Eigen::Vector3f &uz, const double height)
Definition: cylinder.cpp:85
virtual Eigen::Vector3f getDirection()
Definition: cylinder.cpp:109
virtual double getRadius()
Definition: cylinder.h:65
boost::shared_ptr< Cylinder > Ptr
Definition: cylinder.h:50
virtual void filterPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const double threshold, pcl::PointIndices &output)
Definition: cylinder.cpp:49
virtual void estimateCenterAndHeight(const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointIndices &indices, Eigen::Vector3f &center, double &height)
Definition: cylinder.cpp:64
Eigen::Vector3f direction_
Definition: cylinder.h:68


jsk_recognition_utils
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autogenerated on Wed May 27 2020 03:59:48