PotLocalizer Class Reference

Inheritance diagram for PotLocalizer:

Public Member Functions
bool	getCirclesFromCloud (pcl::PointCloud< pcl::PointXYZRGB >::Ptr pot_cyl_cloud, double radius_goal, double radius_tolerance, std::vector< tf::Vector3 > &center, std::vector< double > &radius, std::vector< int > &numinliers, size_t iterations=5)
bool	getHandleRotation (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, tf::Stamped< tf::Pose > &potPose, double pot_handle_radius_min, double pot_handle_radius_max, btVector3 min, btVector3 max)
bool	getLidPose (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, tf::Stamped< tf::Pose > &lid, double radius, tf::Vector3 min, tf::Vector3 max)
void	getPointsInBox (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, pcl::PointCloud< pcl::PointXYZRGB >::Ptr inBox, btVector3 min, btVector3 max)
bool	getPotPoseViaLid (pcl::PointCloud< pcl::PointXYZRGB >::Ptr cloud, tf::Stamped< tf::Pose > &potPose, tf::Vector3 min, tf::Vector3 max)
virtual bool	localize_imp (std::string object_class, tf::Stamped< tf::Pose > *poses, int numHits=1, Keywords keys=Keywords())
	PotLocalizer ()

Detailed Description

Definition at line 38 of file ObjectLocalizer.h.

PotLocalizer::PotLocalizer ( )

Definition at line 46 of file ObjectLocalizer.cpp.

bool PotLocalizer::getCirclesFromCloud	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	pot_cyl_cloud,
		double	radius_goal,
		double	radius_tolerance,
		std::vector< tf::Vector3 > &	center,
		std::vector< double > &	radius,
		std::vector< int > &	numinliers,
		size_t	iterations = `5`
	)

Definition at line 109 of file ObjectLocalizer.cpp.

bool PotLocalizer::getHandleRotation	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		tf::Stamped< tf::Pose > &	potPose,
		double	pot_handle_radius_min,
		double	pot_handle_radius_max,
		btVector3	min,
		btVector3	max
	)

Definition at line 205 of file ObjectLocalizer.cpp.

bool PotLocalizer::getLidPose	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		tf::Stamped< tf::Pose > &	lid,
		double	radius,
		tf::Vector3	min,
		tf::Vector3	max
	)

Definition at line 250 of file ObjectLocalizer.cpp.

void PotLocalizer::getPointsInBox	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr	inBox,
		btVector3	min,
		btVector3	max
	)

Definition at line 81 of file ObjectLocalizer.cpp.

bool PotLocalizer::getPotPoseViaLid	(	pcl::PointCloud< pcl::PointXYZRGB >::Ptr	cloud,
		tf::Stamped< tf::Pose > &	potPose,
		tf::Vector3	min,
		tf::Vector3	max
	)

find the pot center

find the handles on the pot side

Definition at line 285 of file ObjectLocalizer.cpp.

bool PotLocalizer::localize_imp	(	std::string	object_class,
		tf::Stamped< tf::Pose > *	poses,
		int	numHits = `1`,
		Keywords	keys = `Keywords()`
	)			`[virtual]`

Reimplemented from ObjectLocalizer.

Definition at line 51 of file ObjectLocalizer.cpp.

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