TableObjectDetector Class Reference

List of all members.

Public Member Functions
void	input_callback (const sensor_msgs::PointCloud2ConstPtr &cloud2_in)
	TableObjectDetector ()
Public Attributes
pcl::PointCloud< Point >::ConstPtr	cloud_
pcl::PointCloud< Point >::ConstPtr	cloud_downsampled_
pcl::PointCloud< Point >::ConstPtr	cloud_filtered_
pcl::PointCloud< pcl::Normal > ::ConstPtr	cloud_normals_
pcl::PointCloud< Point >::ConstPtr	cloud_objects_
pcl::PointCloud< Point >::ConstPtr	cloud_objects_downsampled_
ros::Publisher	cloud_pub_
ros::Subscriber	cloud_sub_
pcl::EuclideanClusterExtraction < Point >	cluster_
KdTreePtr	clusters_tree_
double	downsample_leaf_
double	downsample_leaf_objects_
pcl::VoxelGrid< Point >	grid_
pcl::VoxelGrid< Point >	grid_objects_
pcl::ConvexHull< Point >	hull_
int	k_
double	max_z_bounds_
double	min_z_bounds_
pcl::NormalEstimation< Point, pcl::Normal >	n3d_
ros::NodeHandle	nh_
double	normal_distance_weight_
KdTreePtr	normals_tree_
double	object_cluster_min_size_
double	object_cluster_tolerance_
double	object_max_height_
double	object_min_height_
pcl::PassThrough< Point >	pass_
pcl::ExtractPolygonalPrismData < Point >	prism_
pcl::ProjectInliers< Point >	proj_
double	sac_distance_threshold_
pcl::SACSegmentationFromNormals < Point, pcl::Normal >	seg_
pcl::ModelCoefficients::ConstPtr	table_coefficients_
pcl::PointCloud< Point >::ConstPtr	table_hull_
pcl::PointIndices::ConstPtr	table_inliers_
pcl::PointCloud< Point >::ConstPtr	table_projected_
Private Types
typedef pcl::KdTree< Point >::Ptr	KdTreePtr
typedef pcl::PointXYZRGB	Point

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Detailed Description

Author:

Radu Bogdan Rusu

table_object_detector detects tables and objects.

Definition at line 81 of file table_object_detector.cpp.

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Member Typedef Documentation

typedef pcl::KdTree<Point>::Ptr TableObjectDetector::KdTreePtr [private]

Definition at line 84 of file table_object_detector.cpp.

typedef pcl::PointXYZRGB TableObjectDetector::Point [private]

Definition at line 83 of file table_object_detector.cpp.

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Constructor & Destructor Documentation

TableObjectDetector::TableObjectDetector

(

)

[inline]

Definition at line 135 of file table_object_detector.cpp.

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Member Function Documentation

void TableObjectDetector::input_callback

(

const sensor_msgs::PointCloud2ConstPtr &

cloud2_in

)

[inline]

Definition at line 220 of file table_object_detector.cpp.

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Member Data Documentation

pcl::PointCloud<Point>::ConstPtr TableObjectDetector::cloud_

Definition at line 118 of file table_object_detector.cpp.

pcl::PointCloud<Point>::ConstPtr TableObjectDetector::cloud_downsampled_

Definition at line 120 of file table_object_detector.cpp.

pcl::PointCloud<Point>::ConstPtr TableObjectDetector::cloud_filtered_

Definition at line 120 of file table_object_detector.cpp.

pcl::PointCloud<pcl::Normal>::ConstPtr TableObjectDetector::cloud_normals_

Definition at line 122 of file table_object_detector.cpp.

pcl::PointCloud<Point>::ConstPtr TableObjectDetector::cloud_objects_

Definition at line 132 of file table_object_detector.cpp.

pcl::PointCloud<Point>::ConstPtr TableObjectDetector::cloud_objects_downsampled_

Definition at line 132 of file table_object_detector.cpp.

ros::Publisher TableObjectDetector::cloud_pub_

Definition at line 90 of file table_object_detector.cpp.

ros::Subscriber TableObjectDetector::cloud_sub_

Definition at line 89 of file table_object_detector.cpp.

pcl::EuclideanClusterExtraction<Point> TableObjectDetector::cluster_

Definition at line 101 of file table_object_detector.cpp.

KdTreePtr TableObjectDetector::clusters_tree_

Definition at line 93 of file table_object_detector.cpp.

double TableObjectDetector::downsample_leaf_

Definition at line 105 of file table_object_detector.cpp.

double TableObjectDetector::downsample_leaf_objects_

Definition at line 105 of file table_object_detector.cpp.

pcl::VoxelGrid<Point> TableObjectDetector::grid_

Definition at line 95 of file table_object_detector.cpp.

pcl::VoxelGrid<Point> TableObjectDetector::grid_objects_

Definition at line 95 of file table_object_detector.cpp.

pcl::ConvexHull<Point> TableObjectDetector::hull_

Definition at line 99 of file table_object_detector.cpp.

int TableObjectDetector::k_

Definition at line 106 of file table_object_detector.cpp.

double TableObjectDetector::max_z_bounds_

Definition at line 107 of file table_object_detector.cpp.

double TableObjectDetector::min_z_bounds_

Definition at line 107 of file table_object_detector.cpp.

pcl::NormalEstimation<Point, pcl::Normal> TableObjectDetector::n3d_

Definition at line 96 of file table_object_detector.cpp.

ros::NodeHandle TableObjectDetector::nh_

Definition at line 87 of file table_object_detector.cpp.

double TableObjectDetector::normal_distance_weight_

Definition at line 109 of file table_object_detector.cpp.

KdTreePtr TableObjectDetector::normals_tree_

Definition at line 93 of file table_object_detector.cpp.

double TableObjectDetector::object_cluster_min_size_

Definition at line 115 of file table_object_detector.cpp.

double TableObjectDetector::object_cluster_tolerance_

Definition at line 115 of file table_object_detector.cpp.

double TableObjectDetector::object_max_height_

Definition at line 112 of file table_object_detector.cpp.

double TableObjectDetector::object_min_height_

Definition at line 112 of file table_object_detector.cpp.

pcl::PassThrough<Point> TableObjectDetector::pass_

Definition at line 94 of file table_object_detector.cpp.

pcl::ExtractPolygonalPrismData<Point> TableObjectDetector::prism_

Definition at line 100 of file table_object_detector.cpp.

pcl::ProjectInliers<Point> TableObjectDetector::proj_

Definition at line 98 of file table_object_detector.cpp.

double TableObjectDetector::sac_distance_threshold_

Definition at line 108 of file table_object_detector.cpp.

pcl::SACSegmentationFromNormals<Point, pcl::Normal> TableObjectDetector::seg_

Definition at line 97 of file table_object_detector.cpp.

pcl::ModelCoefficients::ConstPtr TableObjectDetector::table_coefficients_

Definition at line 126 of file table_object_detector.cpp.

pcl::PointCloud<Point>::ConstPtr TableObjectDetector::table_hull_

Definition at line 130 of file table_object_detector.cpp.

pcl::PointIndices::ConstPtr TableObjectDetector::table_inliers_

Definition at line 124 of file table_object_detector.cpp.

pcl::PointCloud<Point>::ConstPtr TableObjectDetector::table_projected_

Definition at line 128 of file table_object_detector.cpp.

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

• table_object_detector.cpp