Public Member Functions
bool	getPlane (fast_plane_detection::Plane &plane)
	PlaneTransform (const sensor_msgs::CameraInfo &camera_info, float baseline, float up_direction)
	PlaneTransform (float fx, float fy, float cx, float cy, float baseline, float up_direction)
void	setParameters (float alpha, float beta, float d, int min_x, int max_x, int min_y, int max_y, std_msgs::Header header)
	~PlaneTransform ()
Private Member Functions
fast_plane_detection::Plane	constructPlaneMsg (const sensor_msgs::PointCloud &plane_limits, const std::vector< double > &coeffs, const tf::Transform &plane_trans)
std::vector< double >	convertTo3DPlane (float alpha, float beta, float d)
void	get3DPlanePoint (int u, int v, Point &p)
void	get3DTableLimits (sensor_msgs::PointCloud &plane_limits)
tf::Transform	getPlaneTransform (const std::vector< double > &coeffs, double up_direction)
bool	transformPlanePoints (const tf::Transform &plane_trans, sensor_msgs::PointCloud &plane_limits)
Private Attributes
float	alpha_
float	baseline_
float	beta_
float	cx_
float	cy_
float	d_
float	fx_
float	fy_
std_msgs::Header	header_
tf::TransformListener	listener
int	max_x_
int	max_y_
int	min_x_
int	min_y_
float	up_direction_

Detailed Description

Definition at line 48 of file plane_transform.h.

Constructor & Destructor Documentation

fast_plane_detection::PlaneTransform::PlaneTransform	(	const sensor_msgs::CameraInfo &	camera_info,
		float	baseline,
		float	up_direction
	)

Definition at line 38 of file plane_transform.cpp.

fast_plane_detection::PlaneTransform::PlaneTransform	(	float	fx,
		float	fy,
		float	cx,
		float	cy,
		float	baseline,
		float	up_direction
	)

Definition at line 49 of file plane_transform.cpp.

fast_plane_detection::PlaneTransform::~PlaneTransform ( )

Definition at line 60 of file plane_transform.cpp.

Plane fast_plane_detection::PlaneTransform::constructPlaneMsg	(	const sensor_msgs::PointCloud &	plane_limits,
		const std::vector< double > &	coeffs,
		const tf::Transform &	plane_trans
	)		`[private]`

Definition at line 231 of file plane_transform.cpp.

std::vector< double > fast_plane_detection::PlaneTransform::convertTo3DPlane	(	float	alpha,
		float	beta,
		float	d
	)		`[private]`

Definition at line 108 of file plane_transform.cpp.

void fast_plane_detection::PlaneTransform::get3DPlanePoint	(	int	u,
		int	v,
		Point &	p
	)		`[private]`

Definition at line 287 of file plane_transform.cpp.

void fast_plane_detection::PlaneTransform::get3DTableLimits ( sensor_msgs::PointCloud & plane_limits ) [private]

Definition at line 271 of file plane_transform.cpp.

bool fast_plane_detection::PlaneTransform::getPlane ( fast_plane_detection::Plane & plane )

Definition at line 83 of file plane_transform.cpp.

tf::Transform fast_plane_detection::PlaneTransform::getPlaneTransform	(	const std::vector< double > &	coeffs,
		double	up_direction
	)		`[private]`

Definition at line 155 of file plane_transform.cpp.

void fast_plane_detection::PlaneTransform::setParameters	(	float	alpha,
		float	beta,
		float	d,
		int	min_x,
		int	max_x,
		int	min_y,
		int	max_y,
		std_msgs::Header	header
	)

Definition at line 63 of file plane_transform.cpp.

bool fast_plane_detection::PlaneTransform::transformPlanePoints	(	const tf::Transform &	plane_trans,
		sensor_msgs::PointCloud &	plane_limits
	)		`[private]`