cob_3d_mapping::Cylinder Class Reference

Class representing Cylinder shapes. More...

#include <cylinder.h>

Inheritance diagram for cob_3d_mapping::Cylinder:

Public Types
typedef boost::shared_ptr < Cylinder >	Ptr
	Cylinder pointer.
Public Member Functions
virtual void	applyWeighting (std::vector< Cylinder::Ptr > &merge_candidates)
	Weighting of cylinders to be merged.
virtual void	computeAttributes (const Eigen::Vector3f &sym_axis, const Eigen::Vector3f &new_normal, const Eigen::Vector3f &new_origin)
	Compute Attributes of cylinder.
void	ContoursFromCloud (pcl::PointCloud< pcl::PointXYZ >::ConstPtr in_cloud)
	Assign points from pointcloud to contours of this cylinder.
void	ContoursFromList (std::vector< std::vector< Eigen::Vector3f > > &in_list)
	Assign points from input list to contours of this cylinder.
	Cylinder ()
	Constructor of Cylinder object.
void	dbg_out (pcl::PointCloud< pcl::PointXYZRGB >::Ptr points, std::string &name)
	Debug output of points to file.
void	dump_params (std::string name)
	Debug output of parameters to file.
void	getCyl2D (Cylinder &c2d)
	Get 2D cylinder from 3D shape.
void	getCyl3D (Cylinder &c3d)
	Get 3d cylinder from 2d shape.
void	getPt3D (Eigen::Vector3f &pt2d, Eigen::Vector3f &pt3d)
	Transform Point from 2D to 3D.
void	GrabParams (Cylinder &c_src)
	Grab parameters from source cylinder.
virtual void	isMergeCandidate (const std::vector< Cylinder::Ptr > &cylinder_array, const merge_config &limits, std::vector< int > &intersections)
	Check for merge candidates.
void	makeCyl2D ()
	Transform 3D cylinder to 2D shape.
void	makeCyl3D ()
	Transformation to 3D of 2D shape.
virtual void	merge (std::vector< Cylinder::Ptr > &c_array)
	Merge cylinders.
void	ParamsFromCloud (pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr in_cloud, std::vector< int > &indices)
	Paramter estimation and assignment from pointcloud.
void	ParamsFromShapeMsg ()
	Assign paramters from shape message to cylinder.
void	printAttributes (std::string &name)
	Debug Output to terminal.
virtual void	transform2tf (Eigen::Affine3f &tf)
	Transform cylinder to target frame.
Public Attributes
double	h_max_
double	h_min_
int	merged_limit
Eigen::Vector3f	origin_
double	r_
Eigen::Vector3f	sym_axis
Protected Member Functions
void	compensate_offset (Cylinder::Ptr &c_ref)
	Compensate offset.
void	getArc (const Eigen::Vector3f &goal, const Eigen::Vector3f &start, float &Tx, bool first)
	Compute arclength between 2 points.

Detailed Description

Class representing Cylinder shapes.

Note:: Cylinder Parameter Estimation can be performed.; Cylinder Merging is handled.

Definition at line 105 of file cylinder.h.

Member Typedef Documentation

typedef boost::shared_ptr<Cylinder> cob_3d_mapping::Cylinder::Ptr

Cylinder pointer.

Boost shared pointer to cylinder.

Reimplemented from cob_3d_mapping::Polygon.

Definition at line 114 of file cylinder.h.

Constructor & Destructor Documentation

cob_3d_mapping::Cylinder::Cylinder ( void ) [inline]

Constructor of Cylinder object.

Definition at line 121 of file cylinder.h.

Member Function Documentation

void cob_3d_mapping::Cylinder::applyWeighting ( std::vector< Cylinder::Ptr > & merge_candidates ) [virtual]

Weighting of cylinders to be merged.

According to the merge weights of the individual cylinders, this cylinder is assigned a merge weight.

Parameters:

[in] merge_candidates Cylinders, that the merge weight of this Cylinder depends on.

See also:: assignWeight()

Definition at line 437 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::compensate_offset ( Cylinder::Ptr & c_ref ) [protected]

Compensate offset.

Transformation accounting for offset in symmetry axis and x,y -direction of origin. This Cylinder is transformed to the Reference Cylinder.

Parameters:

[in] c_ref Reference Cylinder

Note:: Apply this, when two cylinders have to be merged, whose origin and symmetry axis are not perfectly similar.

Definition at line 599 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::computeAttributes	(	const Eigen::Vector3f &	sym_axis,
		const Eigen::Vector3f &	new_normal,
		const Eigen::Vector3f &	new_origin
	)			`[virtual]`

Compute Attributes of cylinder.

Compute attributes of cylinder depending on input parameters.

Parameters:

`[in]`	sym_axis	Symmetry axis of cylinder
`[in]`	new_normal	Normal of 2d representation of cylinder
`[in]`	new_origin	Origin of cylinder

Definition at line 168 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::ContoursFromCloud ( pcl::PointCloud< pcl::PointXYZ >::ConstPtr in_cloud )

Assign points from pointcloud to contours of this cylinder.

Parameters:

[in] in_cloud Pointcloud containing contour points.

Definition at line 67 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::ContoursFromList ( std::vector< std::vector< Eigen::Vector3f > > & in_list )

Assign points from input list to contours of this cylinder.

Parameters:

[in] in_list List Vector containing contour points.

Definition at line 83 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::dbg_out	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	points,
		std::string &	name
	)

Debug output of points to file.

Parameters:

`[in]`	points	Contour points of the Cylinder.
`[in]`	name	Name of the output file.

Definition at line 489 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::dump_params ( std::string name )

Debug output of parameters to file.

Parameters:

[in] name Name of the output file.

Definition at line 510 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::getArc	(	const Eigen::Vector3f &	goal,
		const Eigen::Vector3f &	start,
		float &	Tx,
		bool	first
	)			`[protected]`

Compute arclength between 2 points.

Parameters:

`[in]`	goal	The end point of the arc.
`[in]`	start	The start point of the arc.
`[out]`	Tx	Translation in x direction, corresponds to the arclength.
`[in]`	first	True if goal is first point in a Cylinder contour.

Note:: The arclength is computed based on the radius of the Cylinder and the relative position of the points. Therefore both start and goal have to be in local Cylinder-coordinates and they have to be positioned on the Cylinder surface.

Definition at line 541 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::getCyl2D ( Cylinder & c2d )

Get 2D cylinder from 3D shape.

3D shape is transformed to 3D shape and copied.

Parameters:

[out] c2d cylinder , the 2D-shape is copied to.

See also:: Cylinder::makeCyl2D()

Definition at line 348 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::getCyl3D ( Cylinder & c3d )

Get 3d cylinder from 2d shape.

2D shape is transformed to 3D shape and copied.

Parameters:

[out] c3d Cylinder, 3D cylinder is copied to.

See also:: Cylinder::makeCyl3D()

Definition at line 244 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::getPt3D	(	Eigen::Vector3f &	pt2d,
		Eigen::Vector3f &	pt3d
	)

Transform Point from 2D to 3D.

Transformation of Point, that is part of cylinder from flat/2D shape to 3D shape.

Note:: Transformation depends on position relative to normal and radius of the cylinder.; Coordinates have to be in cylinder system.

Parameters:

`[in]`	pt2d	Point , part of 2D shape
`[out]`	pt3d	Point, part of 3D shape

Definition at line 291 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::GrabParams ( Cylinder & c_src )

Grab parameters from source cylinder.

Parameters:

c_src

Source cylinder

Definition at line 223 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::isMergeCandidate	(	const std::vector< Cylinder::Ptr > &	cylinder_array,
		const merge_config &	limits,
		std::vector< int > &	intersections
	)			`[virtual]`

Check for merge candidates.

Cylinders are checked, if they have to be merged with this cylinder under the given merge configuration. Parameters of the Cylinders are compared as well if their contours are intersected.

Parameters:

`[in]`	poly_vec	Vector of cylinders, that are checked.
`[in]`	merge_config	Conditions, under which merge will be performed
`[out]`	intersections	Indices of merge candidates

Definition at line 358 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::makeCyl2D ( )

Transform 3D cylinder to 2D shape.

Projection of cylinder onto plane , by means of arclength. This way treatment as a polygon is possible.

Definition at line 299 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::makeCyl3D ( )

Transformation to 3D of 2D shape.

Transformation of 2D shape to 3D using polar coordinates.

Definition at line 254 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::merge ( std::vector< Cylinder::Ptr > & c_array ) [virtual]

Merge cylinders.

This cylinder is merged with cylinders in input array. Therefore cylinders are transformed to flat polygons. Then the Polygon merge process is applied. The result is weighted,merged cylinder.

Parameters:

[in] c_array Array of cylinders, cylinder object is merged with.

See also:: Polygon::merge()

Definition at line 397 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::ParamsFromCloud	(	pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	in_cloud,
		std::vector< int > &	indices
	)

Paramter estimation and assignment from pointcloud.

Estimation uses pcl::SACSegmentation.Parameters assigned to cylinder accordingly.

Parameters:

`[in]`	in_cloud	Input pointcloud
`[in]`	indices	Indices of contour points

Definition at line 104 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::ParamsFromShapeMsg ( )

Assign paramters from shape message to cylinder.

Assignment and completion of parameter set from shape message to cylinder.

Definition at line 154 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::printAttributes ( std::string & name )

Debug Output to terminal.

Parameters:

[in] name Name of the output file.

Definition at line 527 of file cylinder.cpp.

void cob_3d_mapping::Cylinder::transform2tf ( Eigen::Affine3f & tf ) [virtual]

Transform cylinder to target frame.

Parameters:

[in] trafo Transformation from source frame to target frame.

Definition at line 199 of file cylinder.cpp.

Member Data Documentation

double cob_3d_mapping::Cylinder::h_max_

Point on top of cylinder

Definition at line 304 of file cylinder.h.

double cob_3d_mapping::Cylinder::h_min_

Point at the bottom of cylinder.

Definition at line 303 of file cylinder.h.

int cob_3d_mapping::Cylinder::merged_limit

Limit for merge counter

Definition at line 307 of file cylinder.h.

Eigen::Vector3f cob_3d_mapping::Cylinder::origin_

Origin of cylinder.

Definition at line 306 of file cylinder.h.

double cob_3d_mapping::Cylinder::r_

Radius of cylinder.

Definition at line 302 of file cylinder.h.

Eigen::Vector3f cob_3d_mapping::Cylinder::sym_axis

Symmetry axis of cylinder. Direction Vector of symmetry axis.

Definition at line 305 of file cylinder.h.

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

cob_3d_mapping::Cylinder Class Reference

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation