jsk_pcl_ros::CubeHypothesis Class Reference

#include <edgebased_cube_finder.h>

Inheritance diagram for jsk_pcl_ros::CubeHypothesis:

Public Types
typedef boost::shared_ptr< CubeHypothesis >	Ptr

Public Member Functions
virtual jsk_recognition_utils::PointPair	computeAxisEndPoints (const jsk_recognition_utils::Line &axis, const jsk_recognition_utils::PointPair &a_candidates, const jsk_recognition_utils::PointPair &b_candidates)
	CubeHypothesis (const IndicesPair &pair, const CoefficientsPair &coefficients_pair, const double outlier_threshold)
virtual void	estimate (const pcl::PointCloud< pcl::PointXYZRGB > &cloud)=0
virtual double	evaluatePointOnPlanes (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, jsk_recognition_utils::ConvexPolygon &polygon_a, jsk_recognition_utils::ConvexPolygon &polygon_b)
virtual jsk_recognition_utils::Cube::Ptr	getCube ()
virtual double	getValue ()
virtual	~CubeHypothesis ()

Protected Member Functions
virtual jsk_recognition_utils::ConvexPolygon::Ptr	buildConvexPolygon (const jsk_recognition_utils::PointPair &a_edge_pair, const jsk_recognition_utils::PointPair &b_edge_pair)
virtual void	computeCentroid (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointIndices::Ptr &indices, Eigen::Vector3f &output)
virtual void	getLinePoints (const jsk_recognition_utils::Line &line, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointIndices::Ptr indices, jsk_recognition_utils::Vertices &output)

Protected Attributes
const CoefficientsPair	coefficients_pair_
jsk_recognition_utils::Cube::Ptr	cube_
const IndicesPair	indices_pair_
double	outlier_threshold_
double	value_

Detailed Description

Definition at line 115 of file edgebased_cube_finder.h.

Member Typedef Documentation

Ptr

typedef boost::shared_ptr<CubeHypothesis> jsk_pcl_ros::CubeHypothesis::Ptr

Definition at line 118 of file edgebased_cube_finder.h.

Constructor & Destructor Documentation

CubeHypothesis()

jsk_pcl_ros::CubeHypothesis::CubeHypothesis	(	const IndicesPair &	pair,
		const CoefficientsPair &	coefficients_pair,
		const double	outlier_threshold
	)

Definition at line 89 of file edgebased_cube_finder_nodelet.cpp.

~CubeHypothesis()

jsk_pcl_ros::CubeHypothesis::~CubeHypothesis ( )

virtual

Definition at line 98 of file edgebased_cube_finder_nodelet.cpp.

Member Function Documentation

buildConvexPolygon()

jsk_recognition_utils::ConvexPolygon::Ptr jsk_pcl_ros::CubeHypothesis::buildConvexPolygon ( const jsk_recognition_utils::PointPair &  a_edge_pair, const jsk_recognition_utils::PointPair &  b_edge_pair  )

protectedvirtual

Definition at line 139 of file edgebased_cube_finder_nodelet.cpp.

computeAxisEndPoints()

jsk_recognition_utils::PointPair jsk_pcl_ros::CubeHypothesis::computeAxisEndPoints ( const jsk_recognition_utils::Line &  axis, const jsk_recognition_utils::PointPair &  a_candidates, const jsk_recognition_utils::PointPair &  b_candidates  )

virtual

Definition at line 180 of file edgebased_cube_finder_nodelet.cpp.

computeCentroid()

void jsk_pcl_ros::CubeHypothesis::computeCentroid ( const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &  cloud, const pcl::PointIndices::Ptr &  indices, Eigen::Vector3f &  output  )

protectedvirtual

Definition at line 102 of file edgebased_cube_finder_nodelet.cpp.

estimate()

virtual void jsk_pcl_ros::CubeHypothesis::estimate ( const pcl::PointCloud< pcl::PointXYZRGB > &  cloud )

pure virtual

Implemented in jsk_pcl_ros::DiagnoalCubeHypothesis, and jsk_pcl_ros::PlanarCubeHypothesis.

evaluatePointOnPlanes()

double jsk_pcl_ros::CubeHypothesis::evaluatePointOnPlanes ( const pcl::PointCloud< pcl::PointXYZRGB > &  cloud, jsk_recognition_utils::ConvexPolygon &  polygon_a, jsk_recognition_utils::ConvexPolygon &  polygon_b  )

virtual

Definition at line 156 of file edgebased_cube_finder_nodelet.cpp.

getCube()

virtual jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::CubeHypothesis::getCube ( )

inlinevirtual

Definition at line 124 of file edgebased_cube_finder.h.

getLinePoints()

void jsk_pcl_ros::CubeHypothesis::getLinePoints ( const jsk_recognition_utils::Line &  line, const pcl::PointCloud< pcl::PointXYZRGB > &  cloud, const pcl::PointIndices::Ptr  indices, jsk_recognition_utils::Vertices &  output  )

protectedvirtual

Definition at line 118 of file edgebased_cube_finder_nodelet.cpp.

getValue()

virtual double jsk_pcl_ros::CubeHypothesis::getValue ( )

inlinevirtual

Definition at line 123 of file edgebased_cube_finder.h.

Member Data Documentation

coefficients_pair_

const CoefficientsPair jsk_pcl_ros::CubeHypothesis::coefficients_pair_

protected

Definition at line 154 of file edgebased_cube_finder.h.

cube_

jsk_recognition_utils::Cube::Ptr jsk_pcl_ros::CubeHypothesis::cube_

protected

Definition at line 156 of file edgebased_cube_finder.h.

indices_pair_

const IndicesPair jsk_pcl_ros::CubeHypothesis::indices_pair_

protected

Definition at line 153 of file edgebased_cube_finder.h.

outlier_threshold_

double jsk_pcl_ros::CubeHypothesis::outlier_threshold_

protected

Definition at line 155 of file edgebased_cube_finder.h.

value_

double jsk_pcl_ros::CubeHypothesis::value_

protected

Definition at line 152 of file edgebased_cube_finder.h.

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

• edgebased_cube_finder.h
• edgebased_cube_finder_nodelet.cpp