#include <FODDetector.h>

Public Member Functions
void	clusterPossibleFODs ()
	Extract cluster indices from input cloud with resolution set. Each cluster is a possible FOD. More...

	FODDetector (PointCloudRGB::Ptr cloud, double cluster_tolerance, double min_fod_points)
	Construct a new FODDetector object with given tolerance and minimal fod points. More...

int	fodIndicesToPointCloud (std::vector< PointCloudRGB::Ptr > &cloud_array)
	Save each cluster (possible FOD) in a pcl::PointCloudRGB. Give back an array of all generated clouds. Returns the number of possible FODs. More...

int	fodIndicesToROSMsg (std::vector< sensor_msgs::PointCloud2 > &cluster_msg_array)
	Save each cluster (possible FOD) in a PointCloud2 msg. Give back an array of all generated msgs. Returns the number of possible FODs. More...

void	getFODIndices (std::vector< pcl::PointIndices > &fod_indices)
	Get the FOD indices computed in clusterPossibleFODs() More...

void	setClusterTolerance (double tolerance)
	Set the Cluster Tolerance object. More...

void	setMinFODpoints (double min_fod_points)
	Set the Min FOD points object. More...

	~FODDetector ()
	Destroy the FODDetector object. More...

Private Types
typedef pcl::PointCloud< pcl::PointXYZRGB >	PointCloudRGB

typedef pcl::PointCloud< pcl::PointXYZ >	PointCloudXYZ

Private Attributes
PointCloudRGB::Ptr	cloud_
	Input cloud. More...

std::vector< pcl::PointIndices >	cluster_indices_
	Cluster indices to be identified as FODs. More...

double	cluster_tolerance_
	Tolerance to set as cluster tolerance. More...

double	min_cluster_size_
	Min number of points to identify a cluster. More...

Detailed Description

Definition at line 24 of file FODDetector.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::PointXYZRGB> FODDetector::PointCloudRGB

private

Definition at line 27 of file FODDetector.h.

typedef pcl::PointCloud<pcl::PointXYZ> FODDetector::PointCloudXYZ

private

Definition at line 26 of file FODDetector.h.

Constructor & Destructor Documentation

FODDetector::FODDetector	(	PointCloudRGB::Ptr	cloud,
		double	cluster_tolerance,
		double	min_fod_points
	)

Construct a new FODDetector object with given tolerance and minimal fod points.

Parameters

tolerance

Definition at line 21 of file FODDetector.cpp.

FODDetector::~FODDetector ( )

inline

Destroy the FODDetector object.

Definition at line 41 of file FODDetector.h.

Member Function Documentation

void FODDetector::clusterPossibleFODs ( )

Extract cluster indices from input cloud with resolution set. Each cluster is a possible FOD.

Parameters

[in]	cloud
[out]	cluster_indices

Definition at line 45 of file FODDetector.cpp.

int FODDetector::fodIndicesToPointCloud ( std::vector< PointCloudRGB::Ptr > & cloud_array )

Save each cluster (possible FOD) in a pcl::PointCloudRGB. Give back an array of all generated clouds.
Returns the number of possible FODs.

Parameters

[in]	cluster_indices
[in]	cloud
[out]	cluster_msg_array

Returns: int number_of_fod

Definition at line 60 of file FODDetector.cpp.

int FODDetector::fodIndicesToROSMsg ( std::vector< sensor_msgs::PointCloud2 > & cluster_msg_array )

Save each cluster (possible FOD) in a PointCloud2 msg. Give back an array of all generated msgs.
Returns the number of possible FODs.

Parameters

[in]	cluster_indices
[in]	cloud
[out]	cluster_msg_array

Returns: int number_of_fod

Definition at line 80 of file FODDetector.cpp.

void FODDetector::getFODIndices ( std::vector< pcl::PointIndices > & fod_indices )

Get the FOD indices computed in clusterPossibleFODs()

Parameters

fod_indices

Definition at line 112 of file FODDetector.cpp.

void FODDetector::setClusterTolerance ( double tolerance )

Set the Cluster Tolerance object.

Parameters

tolerance

Definition at line 28 of file FODDetector.cpp.

void FODDetector::setMinFODpoints ( double min_fod_points )

Set the Min FOD points object.

Parameters

min_fod_points

Definition at line 40 of file FODDetector.cpp.

Member Data Documentation

PointCloudRGB::Ptr FODDetector::cloud_

private

Input cloud.

Definition at line 102 of file FODDetector.h.

std::vector<pcl::PointIndices> FODDetector::cluster_indices_

private

Cluster indices to be identified as FODs.

Definition at line 105 of file FODDetector.h.

double FODDetector::cluster_tolerance_

private

Tolerance to set as cluster tolerance.

Definition at line 96 of file FODDetector.h.

double FODDetector::min_cluster_size_

private

Min number of points to identify a cluster.

Definition at line 99 of file FODDetector.h.

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

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation