ExtractClusters Class Reference

List of all members.

Public Member Functions
void	add_remove_padding_hull (pcl::PointCloud< Point > &hull_in, pcl::PointCloud< Point > &hull_out, double padding)
void	executeCB (const pcl_cloud_tools::GetClustersGoalConstPtr &goal)
	ExtractClusters (const ros::NodeHandle &nh)
void	init (double tolerance, std::string object_name)
virtual	~ExtractClusters ()
Private Member Functions
void	clustersCallback (const sensor_msgs::PointCloud2ConstPtr &cloud_in)
double	compute2DPolygonalArea (PointCloud &points, const std::vector< double > &normal)
	Compute the area of a 2D planar polygon patch - using a given normal.
std::string	getName () const
	Get a string representation of the name of this class.
Private Attributes
bool	action_called_
std::string	action_name_
actionlib::SimpleActionServer < pcl_cloud_tools::GetClustersAction >	as_
double	base_link_head_tilt_link_angle_
pcl::ConvexHull< Point >	chull_
pcl::PointCloud< pcl::Normal > ::ConstPtr	cloud_normals_
std::vector< pcl::PointCloud < Point > >	cloud_object_clustered_array_
pcl::PointCloud< Point >	cloud_objects_
pcl_ros::Publisher< Point >	cloud_objects_pub_
pcl_ros::Publisher< Point >	cloud_pub_
pcl::EuclideanClusterExtraction < Point >	cluster_
double	cluster_max_height_
double	cluster_min_height_
KdTreePtr	clusters_tree_
bool	downsample_
double	eps_angle_
pcl::ExtractIndices< Point >	extract_
pcl_cloud_tools::GetClustersFeedback	feedback_
bool	got_cluster_
int	k_
int	max_iter_
int	min_table_inliers_
pcl::NormalEstimation< Point, pcl::Normal >	n3d_
ros::NodeHandle	nh_
double	normal_distance_weight_
double	normal_search_radius_
KdTreePtr	normals_tree_
int	nr_cluster_
int	object_cluster_max_size_
int	object_cluster_min_size_
double	object_cluster_tolerance_
std::string	object_name_
double	padding_
pcl::PCDWriter	pcd_writer_
ros::Subscriber	point_cloud_sub_
std::string	point_cloud_topic
pcl::ExtractPolygonalPrismData < Point >	prism_
pcl::ProjectInliers< Point >	proj_
bool	publish_token_
pcl_cloud_tools::GetClustersResult	result_
std::string	rot_table_frame_
double	sac_distance_
bool	save_to_files_
pcl::SACSegmentationFromNormals < Point, pcl::Normal >	seg_
double	seg_prob_
std::vector< Eigen::Vector4d * >	table_coeffs_
tf::TransformListener	tf_listener_
pcl_ros::Publisher< Point >	token_pub_
tf::TransformBroadcaster	transform_broadcaster_
pcl::VoxelGrid< Point >	vgrid_
double	voxel_size_
double	z_max_limit_
double	z_min_limit_

---

Detailed Description

Definition at line 86 of file extract_clusters_on_table.cpp.

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Constructor & Destructor Documentation

ExtractClusters::ExtractClusters

(

const ros::NodeHandle &

nh

)

[inline]

Definition at line 90 of file extract_clusters_on_table.cpp.

virtual ExtractClusters::~ExtractClusters

(

)

[inline, virtual]

Definition at line 153 of file extract_clusters_on_table.cpp.

---

Member Function Documentation

void ExtractClusters::add_remove_padding_hull	(	pcl::PointCloud< Point > &	hull_in,
		pcl::PointCloud< Point > &	hull_out,
		double	padding
	)		[inline]

Definition at line 167 of file extract_clusters_on_table.cpp.

void ExtractClusters::clustersCallback

(

const sensor_msgs::PointCloud2ConstPtr &

cloud_in

)

[inline, private]

Definition at line 257 of file extract_clusters_on_table.cpp.

double ExtractClusters::compute2DPolygonalArea	(	PointCloud &	points,
		const std::vector< double > &	normal
	)		[inline, private]

Compute the area of a 2D planar polygon patch - using a given normal.

Parameters:

points	the point cloud (planar)
normal	the plane normal

Definition at line 417 of file extract_clusters_on_table.cpp.

void ExtractClusters::executeCB

(

const pcl_cloud_tools::GetClustersGoalConstPtr &

goal

)

[inline]

Definition at line 191 of file extract_clusters_on_table.cpp.

std::string ExtractClusters::getName

(

void

)

const [inline, private]

Get a string representation of the name of this class.

Definition at line 491 of file extract_clusters_on_table.cpp.

void ExtractClusters::init	(	double	tolerance,
		std::string	object_name
	)		[inline]

Definition at line 160 of file extract_clusters_on_table.cpp.

---

Member Data Documentation

bool ExtractClusters::action_called_ [private]

Definition at line 449 of file extract_clusters_on_table.cpp.

std::string ExtractClusters::action_name_ [private]

Definition at line 495 of file extract_clusters_on_table.cpp.

actionlib::SimpleActionServer<pcl_cloud_tools::GetClustersAction> ExtractClusters::as_ [private]

Definition at line 494 of file extract_clusters_on_table.cpp.

double ExtractClusters::base_link_head_tilt_link_angle_ [private]

Definition at line 461 of file extract_clusters_on_table.cpp.

pcl::ConvexHull<Point> ExtractClusters::chull_ [private]

Definition at line 482 of file extract_clusters_on_table.cpp.

pcl::PointCloud<pcl::Normal>::ConstPtr ExtractClusters::cloud_normals_ [private]

Definition at line 478 of file extract_clusters_on_table.cpp.

std::vector<pcl::PointCloud<Point> > ExtractClusters::cloud_object_clustered_array_ [private]

Definition at line 487 of file extract_clusters_on_table.cpp.

pcl::PointCloud<Point> ExtractClusters::cloud_objects_ [private]

Definition at line 484 of file extract_clusters_on_table.cpp.

pcl_ros::Publisher<Point> ExtractClusters::cloud_objects_pub_ [private]

Definition at line 470 of file extract_clusters_on_table.cpp.

pcl_ros::Publisher<Point> ExtractClusters::cloud_pub_ [private]

Definition at line 468 of file extract_clusters_on_table.cpp.

pcl::EuclideanClusterExtraction<Point> ExtractClusters::cluster_ [private]

Definition at line 485 of file extract_clusters_on_table.cpp.

double ExtractClusters::cluster_max_height_ [private]

Definition at line 456 of file extract_clusters_on_table.cpp.

double ExtractClusters::cluster_min_height_ [private]

Definition at line 456 of file extract_clusters_on_table.cpp.

KdTreePtr ExtractClusters::clusters_tree_ [private]

Definition at line 486 of file extract_clusters_on_table.cpp.

bool ExtractClusters::downsample_ [private]

Definition at line 449 of file extract_clusters_on_table.cpp.

double ExtractClusters::eps_angle_ [private]

Definition at line 461 of file extract_clusters_on_table.cpp.

pcl::ExtractIndices<Point> ExtractClusters::extract_ [private]

Definition at line 481 of file extract_clusters_on_table.cpp.

pcl_cloud_tools::GetClustersFeedback ExtractClusters::feedback_ [private]

Definition at line 497 of file extract_clusters_on_table.cpp.

bool ExtractClusters::got_cluster_ [private]

Definition at line 449 of file extract_clusters_on_table.cpp.

int ExtractClusters::k_ [private]

Definition at line 462 of file extract_clusters_on_table.cpp.

int ExtractClusters::max_iter_ [private]

Definition at line 462 of file extract_clusters_on_table.cpp.

int ExtractClusters::min_table_inliers_ [private]

Definition at line 462 of file extract_clusters_on_table.cpp.

pcl::NormalEstimation<Point, pcl::Normal> ExtractClusters::n3d_ [private]

Definition at line 476 of file extract_clusters_on_table.cpp.

ros::NodeHandle ExtractClusters::nh_ [private]

Definition at line 446 of file extract_clusters_on_table.cpp.

double ExtractClusters::normal_distance_weight_ [private]

Definition at line 460 of file extract_clusters_on_table.cpp.

double ExtractClusters::normal_search_radius_ [private]

Definition at line 451 of file extract_clusters_on_table.cpp.

KdTreePtr ExtractClusters::normals_tree_ [private]

Definition at line 486 of file extract_clusters_on_table.cpp.

int ExtractClusters::nr_cluster_ [private]

Definition at line 462 of file extract_clusters_on_table.cpp.

int ExtractClusters::object_cluster_max_size_ [private]

Definition at line 457 of file extract_clusters_on_table.cpp.

int ExtractClusters::object_cluster_min_size_ [private]

Definition at line 457 of file extract_clusters_on_table.cpp.

double ExtractClusters::object_cluster_tolerance_ [private]

Definition at line 456 of file extract_clusters_on_table.cpp.

std::string ExtractClusters::object_name_ [private]

Definition at line 455 of file extract_clusters_on_table.cpp.

double ExtractClusters::padding_ [private]

Definition at line 453 of file extract_clusters_on_table.cpp.

pcl::PCDWriter ExtractClusters::pcd_writer_ [private]

Definition at line 459 of file extract_clusters_on_table.cpp.

ros::Subscriber ExtractClusters::point_cloud_sub_ [private]

Definition at line 464 of file extract_clusters_on_table.cpp.

std::string ExtractClusters::point_cloud_topic [private]

Definition at line 455 of file extract_clusters_on_table.cpp.

pcl::ExtractPolygonalPrismData<Point> ExtractClusters::prism_ [private]

Definition at line 483 of file extract_clusters_on_table.cpp.

pcl::ProjectInliers<Point> ExtractClusters::proj_ [private]

Definition at line 480 of file extract_clusters_on_table.cpp.

bool ExtractClusters::publish_token_ [private]

Definition at line 449 of file extract_clusters_on_table.cpp.

pcl_cloud_tools::GetClustersResult ExtractClusters::result_ [private]

Definition at line 498 of file extract_clusters_on_table.cpp.

std::string ExtractClusters::rot_table_frame_ [private]

Definition at line 455 of file extract_clusters_on_table.cpp.

double ExtractClusters::sac_distance_ [private]

Definition at line 460 of file extract_clusters_on_table.cpp.

bool ExtractClusters::save_to_files_ [private]

Definition at line 449 of file extract_clusters_on_table.cpp.

pcl::SACSegmentationFromNormals<Point, pcl::Normal> ExtractClusters::seg_ [private]

Definition at line 479 of file extract_clusters_on_table.cpp.

double ExtractClusters::seg_prob_ [private]

Definition at line 461 of file extract_clusters_on_table.cpp.

std::vector<Eigen::Vector4d *> ExtractClusters::table_coeffs_ [private]

Definition at line 466 of file extract_clusters_on_table.cpp.

tf::TransformListener ExtractClusters::tf_listener_ [private]

Definition at line 448 of file extract_clusters_on_table.cpp.

pcl_ros::Publisher<Point> ExtractClusters::token_pub_ [private]

Definition at line 471 of file extract_clusters_on_table.cpp.

tf::TransformBroadcaster ExtractClusters::transform_broadcaster_ [private]

Definition at line 447 of file extract_clusters_on_table.cpp.

pcl::VoxelGrid<Point> ExtractClusters::vgrid_ [private]

Definition at line 475 of file extract_clusters_on_table.cpp.

double ExtractClusters::voxel_size_ [private]

Definition at line 452 of file extract_clusters_on_table.cpp.

double ExtractClusters::z_max_limit_ [private]

Definition at line 460 of file extract_clusters_on_table.cpp.

double ExtractClusters::z_min_limit_ [private]

Definition at line 460 of file extract_clusters_on_table.cpp.

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

• extract_clusters_on_table.cpp