#include <CylinderPatch.h>

Inheritance diagram for CylinderPatch:

Public Types
typedef pcl::PointCloud < ColoredPointT >	ColoredPointCloud
typedef pcl::PointXYZRGB	ColoredPointT
typedef boost::shared_ptr < const CylinderPatch >	CylinderPatchConstPtr
typedef std::list < CylinderPatchPtr >	CylinderPatches
typedef boost::shared_ptr < CylinderPatch >	CylinderPatchPtr
typedef pcl::PointCloud < IntensityPointT >	IntensityPointCloud
typedef pcl::PointXYZI	IntensityPointT
typedef Eigen::Matrix3f	Mat3
typedef std::pair< unsigned int, unsigned int >	Pair2ui
typedef pcl::PointCloud< PointT >	PointCloud
typedef std::vector< int >	PointIndices
typedef std::vector< Vec3, Eigen::aligned_allocator< Vec3 > >	Points
typedef pcl::PointXYZ	PointT
typedef Eigen::Vector3f	Vec3
Public Member Functions
template<typename PointCloudType >
void	addPoints (const PointIndices &pointIndices, const PointCloudType &pointCloud)
bool	checkDistance (const Vec3 &point) const
bool	checkHeight (const Vec3 &point, const float &heightDev)
	CylinderPatch ()
template<typename PointCloudType >
	CylinderPatch (const PointIndices &inliers, const PointCloudType &pointCloud, const Vec3 &pointOnAxis, const Vec3 &axisDirection, const float radius, const float distThreshold)
template<typename PointCloudType >
	CylinderPatch (const PointIndices &inliers, const PointCloudType &pointCloud, const Vec3 &pointOnAxis, const Vec3 &axisDirection, const float radius, const Vec3 &rotationAxis, const float rotationAngle, const float distThreshold)
void	getAxisLimits (float &min, float &max) const
float	getAxisMax () const
float	getAxisMin () const
const Points &	getBBVertices () const
const float &	getHeight () const
const cv::Mat *	getHeightMap () const
const size_t &	getId () const
const PointIndices &	getInliers () const
const Vec3 &	getMidPoint () const
const cv::Mat *	getNormalMap () const
const cv::Mat *	getTextureMap () const
const Vec3 &	getTopPoint () const
void	setId (const size_t &id)
virtual	~CylinderPatch ()
Private Member Functions
template<typename PointCloudType >
void	addToHeight (const PointIndices &pointIndices, const PointCloudType &pointCloud)
void	computeOrientedBoundingBox ()
template<typename PointCloudType >
void	initialize (const PointIndices &pointIndices, const PointCloudType &pointCloud)
void	setTransformation (const float rotationAngle, const Vec3 &rotationAxis)
	Compute distance from point to cylinder surface.
Private Attributes
float	mAxisMax
float	mAxisMin
Points	mBBVertices
size_t	mCylinderId
float	mDistThreshold
float	mHeight
cv::Mat *	mHeightMap
Vec3	mMidPoint
cv::Mat *	mNormalMap
PointIndices	mPointIndices
cv::Mat *	mTextureMap
Vec3	mTopPoint

Detailed Description

Definition at line 50 of file CylinderPatch.h.

Member Typedef Documentation

typedef pcl::PointCloud<ColoredPointT> CylinderPatch::ColoredPointCloud

Definition at line 61 of file CylinderPatch.h.

typedef pcl::PointXYZRGB CylinderPatch::ColoredPointT

Definition at line 58 of file CylinderPatch.h.

typedef boost::shared_ptr<const CylinderPatch> CylinderPatch::CylinderPatchConstPtr

Definition at line 53 of file CylinderPatch.h.

typedef std::list<CylinderPatchPtr> CylinderPatch::CylinderPatches

Definition at line 54 of file CylinderPatch.h.

typedef boost::shared_ptr<CylinderPatch> CylinderPatch::CylinderPatchPtr

Definition at line 52 of file CylinderPatch.h.

typedef pcl::PointCloud<IntensityPointT> CylinderPatch::IntensityPointCloud

Definition at line 62 of file CylinderPatch.h.

typedef pcl::PointXYZI CylinderPatch::IntensityPointT

Definition at line 59 of file CylinderPatch.h.

typedef Eigen::Matrix3f CylinderPatch::Mat3

Reimplemented from Cylinder3D.

Definition at line 65 of file CylinderPatch.h.

typedef std::pair<unsigned int, unsigned int> CylinderPatch::Pair2ui

Definition at line 63 of file CylinderPatch.h.

typedef pcl::PointCloud<PointT> CylinderPatch::PointCloud

Definition at line 60 of file CylinderPatch.h.

typedef std::vector<int> CylinderPatch::PointIndices

Definition at line 56 of file CylinderPatch.h.

typedef std::vector<Vec3, Eigen::aligned_allocator<Vec3> > CylinderPatch::Points

Definition at line 66 of file CylinderPatch.h.

typedef pcl::PointXYZ CylinderPatch::PointT

Definition at line 57 of file CylinderPatch.h.

typedef Eigen::Vector3f CylinderPatch::Vec3

Reimplemented from Cylinder3D.

Definition at line 64 of file CylinderPatch.h.

Constructor & Destructor Documentation

CylinderPatch::CylinderPatch ( ) [inline]

Definition at line 69 of file CylinderPatch.h.

template<typename PointCloudType >

CylinderPatch::CylinderPatch	(	const PointIndices &	inliers,
		const PointCloudType &	pointCloud,
		const Vec3 &	pointOnAxis,
		const Vec3 &	axisDirection,
		const float	radius,
		const float	distThreshold
	)		`[inline]`

Definition at line 75 of file CylinderPatch.h.

template<typename PointCloudType >

CylinderPatch::CylinderPatch	(	const PointIndices &	inliers,
		const PointCloudType &	pointCloud,
		const Vec3 &	pointOnAxis,
		const Vec3 &	axisDirection,
		const float	radius,
		const Vec3 &	rotationAxis,
		const float	rotationAngle,
		const float	distThreshold
	)		`[inline]`

Definition at line 84 of file CylinderPatch.h.

virtual CylinderPatch::~CylinderPatch ( ) [inline, virtual]

Definition at line 92 of file CylinderPatch.h.

Member Function Documentation

template<typename PointCloudType >

void CylinderPatch::addPoints	(	const PointIndices &	pointIndices,
		const PointCloudType &	pointCloud
	)		`[inline]`

Definition at line 162 of file CylinderPatch.h.

template<typename PointCloudType >

void CylinderPatch::addToHeight	(	const PointIndices &	pointIndices,
		const PointCloudType &	pointCloud
	)		`[private]`

Definition at line 267 of file CylinderPatch.h.

bool CylinderPatch::checkDistance ( const Vec3 & point ) const [inline]

Definition at line 138 of file CylinderPatch.h.

bool CylinderPatch::checkHeight	(	const Vec3 &	point,
		const float &	heightDev
	)		`[inline]`

Definition at line 154 of file CylinderPatch.h.

void CylinderPatch::computeOrientedBoundingBox ( ) [private]

Definition at line 29 of file CylinderPatch.cpp.

void CylinderPatch::getAxisLimits	(	float &	min,
		float &	max
	)		const `[inline]`

Definition at line 116 of file CylinderPatch.h.

float CylinderPatch::getAxisMax ( ) const [inline]

Definition at line 115 of file CylinderPatch.h.

float CylinderPatch::getAxisMin ( ) const [inline]

Definition at line 114 of file CylinderPatch.h.

const Points& CylinderPatch::getBBVertices ( ) const [inline]

Definition at line 110 of file CylinderPatch.h.

const float& CylinderPatch::getHeight ( ) const [inline]

Definition at line 117 of file CylinderPatch.h.

const cv::Mat* CylinderPatch::getHeightMap ( ) const [inline]

Definition at line 130 of file CylinderPatch.h.

const size_t& CylinderPatch::getId ( ) const [inline]

Definition at line 125 of file CylinderPatch.h.

const PointIndices& CylinderPatch::getInliers ( ) const [inline]

Definition at line 124 of file CylinderPatch.h.

const Vec3& CylinderPatch::getMidPoint ( ) const [inline]

Definition at line 119 of file CylinderPatch.h.

const cv::Mat* CylinderPatch::getNormalMap ( ) const [inline]

Definition at line 133 of file CylinderPatch.h.

const cv::Mat* CylinderPatch::getTextureMap ( ) const [inline]

Definition at line 127 of file CylinderPatch.h.

const Vec3& CylinderPatch::getTopPoint ( ) const [inline]

Definition at line 118 of file CylinderPatch.h.

template<typename PointCloudType >

void CylinderPatch::initialize	(	const PointIndices &	pointIndices,
		const PointCloudType &	pointCloud
	)		`[private]`

Definition at line 246 of file CylinderPatch.h.

void CylinderPatch::setId ( const size_t & id ) [inline]

Definition at line 107 of file CylinderPatch.h.

void CylinderPatch::setTransformation	(	const float	rotationAngle,
		const Vec3 &	rotationAxis
	)		`[private]`

Compute distance from point to cylinder surface.

Parameters:

point Compute this point's distance. Calculate transformations from and to cylinder coordinate system. Set transformations from and to cylinder coordinate system.

Reimplemented from Cylinder3D.