Classes | Typedefs | Functions
openni_floodfill_planar_segmentation.cpp File Reference
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/io.h>
#include <boost/make_shared.hpp>
#include <pcl/common/time.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/search/pcl_search.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/features/normal_3d.h>
#include <pcl/ModelCoefficients.h>
#include <boost/graph/incremental_components.hpp>
Include dependency graph for openni_floodfill_planar_segmentation.cpp:

Go to the source code of this file.

Classes

class  PlaneSegTest

Typedefs

typedef pcl::PointXYZ PointT

Functions

template<typename PointInT >
bool comparePoints (PointInT p1, PointInT p2, double p1_d, double p2_d, float ang_thresh, float dist_thresh)
 comparePoints will compare the plane equations of two points. It requires a point type that includes normal information. The normal (a,b,c) and range (d) components of the normal are compared separately, so separate thresholds are available.
template<typename PointT , typename Normal >
void extractEuclideanClustersModified (const pcl::PointCloud< PointT > &cloud, const pcl::PointCloud< Normal > &normals, float tolerance, const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, std::vector< pcl::PointIndices > &clusters, double eps_angle, unsigned int min_pts_per_cluster, unsigned int max_pts_per_cluster)
template<typename PointInT , typename PointOutT >
void extractPlanesByClustering (const pcl::PointCloud< PointInT > &cloud_in, std::vector< Eigen::Vector4f > &normals_out, std::vector< pcl::PointCloud< PointOutT > > &inliers, int min_inliers, double ang_thresh, double dist_thresh)
 extractPlanesByClustering makes use of the version of extractEuclideanClusters that also clusters on normal information in order to find all planes in the scene.
template<typename PointInT , typename PointOutT >
void extractPlanesByFloodFill (const pcl::PointCloud< PointInT > &cloud_in, std::vector< pcl::ModelCoefficients > &normals_out, std::vector< pcl::PointCloud< PointOutT > > &inliers, unsigned min_inliers, float ang_thresh, float dist_thresh)
 extractPlanesByFloodFill finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. Only planes with more than min_inliers points are detected.
int main ()

Typedef Documentation

Definition at line 53 of file openni_floodfill_planar_segmentation.cpp.


Function Documentation

template<typename PointInT >
bool comparePoints ( PointInT  p1,
PointInT  p2,
double  p1_d,
double  p2_d,
float  ang_thresh,
float  dist_thresh 
)

comparePoints will compare the plane equations of two points. It requires a point type that includes normal information. The normal (a,b,c) and range (d) components of the normal are compared separately, so separate thresholds are available.

Author:
Alexander J. B. Trevor

Definition at line 62 of file openni_floodfill_planar_segmentation.cpp.

template<typename PointT , typename Normal >
void extractEuclideanClustersModified ( const pcl::PointCloud< PointT > &  cloud,
const pcl::PointCloud< Normal > &  normals,
float  tolerance,
const boost::shared_ptr< pcl::search::KdTree< PointT > > &  tree,
std::vector< pcl::PointIndices > &  clusters,
double  eps_angle,
unsigned int  min_pts_per_cluster,
unsigned int  max_pts_per_cluster 
)

Definition at line 250 of file openni_floodfill_planar_segmentation.cpp.

template<typename PointInT , typename PointOutT >
void extractPlanesByClustering ( const pcl::PointCloud< PointInT > &  cloud_in,
std::vector< Eigen::Vector4f > &  normals_out,
std::vector< pcl::PointCloud< PointOutT > > &  inliers,
int  min_inliers,
double  ang_thresh,
double  dist_thresh 
)

extractPlanesByClustering makes use of the version of extractEuclideanClusters that also clusters on normal information in order to find all planes in the scene.

Author:
Alexander J. B. Trevor

Definition at line 342 of file openni_floodfill_planar_segmentation.cpp.

template<typename PointInT , typename PointOutT >
void extractPlanesByFloodFill ( const pcl::PointCloud< PointInT > &  cloud_in,
std::vector< pcl::ModelCoefficients > &  normals_out,
std::vector< pcl::PointCloud< PointOutT > > &  inliers,
unsigned  min_inliers,
float  ang_thresh,
float  dist_thresh 
)

extractPlanesByFloodFill finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. Only planes with more than min_inliers points are detected.

Author:
Alexander J. B. Trevor

Definition at line 79 of file openni_floodfill_planar_segmentation.cpp.

int main ( )

Definition at line 565 of file openni_floodfill_planar_segmentation.cpp.



pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:19:13