Public Member Functions
void	compute ()
void	estimateNormals (const typename PointCloud< PointT >::ConstPtr &input, PointCloud< Normal > &normals)
void	initGUI ()
void	keyboard_callback (const visualization::KeyboardEvent &, void *)
bool	load (const std::string &file)
void	mouse_callback (const visualization::MouseEvent &mouse_event, void *)
	ObjectSelection ()
void	pp_callback (const visualization::PointPickingEvent &event, void *)
	Point picking callback. This gets called when the user selects a 3D point on screen (in the PCLVisualizer window) using Shift+click.
void	save (const std::string &object_file, const std::string &plane_file)
void	segment (const PointT &picked_point, int picked_idx, PlanarRegion< PointT > &region, typename PointCloud< PointT >::Ptr &object)
void	segmentObject (int picked_idx, const typename PointCloud< PointT >::ConstPtr &cloud, const PointIndices::Ptr &plane_indices, PointCloud< PointT > &object)
	Given a plane, and the set of inlier indices representing it, segment out the object of intererest supported by it.
virtual	~ObjectSelection ()
Public Attributes
PointCloud< PointT >::Ptr	cloud_
boost::shared_ptr < visualization::PCLVisualizer >	cloud_viewer_
boost::shared_ptr < visualization::ImageViewer >	image_viewer_
search::Search< PointT >::Ptr	search_
Private Attributes
std::vector< float >	distance_map_
PointCloud< PointT >::Ptr	object_
PointCloud< PointT >::Ptr	plane_
EdgeAwarePlaneComparator < PointT, Normal >::Ptr	plane_comparator_
PointIndices::Ptr	plane_indices_
unsigned char *	rgb_data_

Detailed Description

Constructor & Destructor Documentation

template<typename PointT>

ObjectSelection< PointT >::ObjectSelection ( ) [inline]

template<typename PointT>

virtual ObjectSelection< PointT >::~ObjectSelection ( ) [inline, virtual]

template<typename PointT>

void ObjectSelection< PointT >::compute ( ) [inline]

template<typename PointT>

void ObjectSelection< PointT >::estimateNormals	(	const typename PointCloud< PointT >::ConstPtr &	input,
		PointCloud< Normal > &	normals
	)		`[inline]`

template<typename PointT>

void ObjectSelection< PointT >::initGUI ( ) [inline]

template<typename PointT>

void ObjectSelection< PointT >::keyboard_callback	(	const visualization::KeyboardEvent &	,
		void *
	)		`[inline]`

template<typename PointT>

bool ObjectSelection< PointT >::load ( const std::string & file ) [inline]

template<typename PointT>

void ObjectSelection< PointT >::mouse_callback	(	const visualization::MouseEvent &	mouse_event,
		void *
	)		`[inline]`

template<typename PointT>

void ObjectSelection< PointT >::pp_callback	(	const visualization::PointPickingEvent &	event,
		void *
	)		`[inline]`

Point picking callback. This gets called when the user selects a 3D point on screen (in the PCLVisualizer window) using Shift+click.

Parameters:

[in] event the event that triggered the call

template<typename PointT>

void ObjectSelection< PointT >::save	(	const std::string &	object_file,
		const std::string &	plane_file
	)		`[inline]`

template<typename PointT>

void ObjectSelection< PointT >::segment	(	const PointT &	picked_point,
		int	picked_idx,
		PlanarRegion< PointT > &	region,
		typename PointCloud< PointT >::Ptr &	object
	)		`[inline]`

template<typename PointT>

void ObjectSelection< PointT >::segmentObject	(	int	picked_idx,
		const typename PointCloud< PointT >::ConstPtr &	cloud,
		const PointIndices::Ptr &	plane_indices,
		PointCloud< PointT > &	object
	)		`[inline]`

Given a plane, and the set of inlier indices representing it, segment out the object of intererest supported by it.

Parameters:

[in]	picked_idx	the index of a point on the object
[in]	cloud	the full point cloud dataset
[in]	plane_indices	a set of indices representing the plane supporting the object of interest
[out]	object	the segmented resultant object