simple_grasping::ObjectSupportSegmentation Class Reference

Class that segments a point cloud into objects and supporting surfaces. More...

#include <object_support_segmentation.h>

Public Member Functions
	ObjectSupportSegmentation (ros::NodeHandle &nh)
	Constructor, loads pipeline using ROS parameters. More...
bool	segment (const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &cloud, std::vector< grasping_msgs::Object > &objects, std::vector< grasping_msgs::Object > &supports, pcl::PointCloud< pcl::PointXYZRGB > &object_cloud, pcl::PointCloud< pcl::PointXYZRGB > &support_cloud, bool output_clouds)
	Split a cloud into objects and supporting surfaces. More...

Private Attributes
pcl::EuclideanClusterExtraction< pcl::PointXYZRGB >	extract_clusters_
pcl::ExtractIndices< pcl::PointXYZRGB >	extract_indices_
pcl::SACSegmentation< pcl::PointXYZRGB >	segment_
pcl::VoxelGrid< pcl::PointXYZRGB >	voxel_grid_

Detailed Description

Class that segments a point cloud into objects and supporting surfaces.

Definition at line 51 of file object_support_segmentation.h.

Constructor & Destructor Documentation

ObjectSupportSegmentation()

simple_grasping::ObjectSupportSegmentation::ObjectSupportSegmentation

(

ros::NodeHandle &

nh

)

Constructor, loads pipeline using ROS parameters.

Parameters

nh	Node handle to use for accessing parameters.

Definition at line 43 of file object_support_segmentation.cpp.

Member Function Documentation

segment()

bool simple_grasping::ObjectSupportSegmentation::segment	(	const pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr &	cloud,
		std::vector< grasping_msgs::Object > &	objects,
		std::vector< grasping_msgs::Object > &	supports,
		pcl::PointCloud< pcl::PointXYZRGB > &	object_cloud,
		pcl::PointCloud< pcl::PointXYZRGB > &	support_cloud,
		bool	output_clouds
	)

Split a cloud into objects and supporting surfaces.

Parameters

cloud	The point cloud to segment. This cloud should already be transformed into a coordinate frame where XY plane is horizontal.
objects	The vector to fill in with objects found.
supports	The vector to fill in with support surfaces found.
object_cloud	A colored cloud of objects found (if output_clouds).
support_cloud	A colored cloud of supports found (if output_clouds).

Definition at line 75 of file object_support_segmentation.cpp.

Member Data Documentation

extract_clusters_

pcl::EuclideanClusterExtraction<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::extract_clusters_

private

Definition at line 80 of file object_support_segmentation.h.

extract_indices_

pcl::ExtractIndices<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::extract_indices_

private

Definition at line 81 of file object_support_segmentation.h.

segment_

pcl::SACSegmentation<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::segment_

private

Definition at line 79 of file object_support_segmentation.h.

voxel_grid_

pcl::VoxelGrid<pcl::PointXYZRGB> simple_grasping::ObjectSupportSegmentation::voxel_grid_

private

Definition at line 78 of file object_support_segmentation.h.

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

• object_support_segmentation.h
• object_support_segmentation.cpp