Class ObjectSupportSegmentation

Class Documentation

class ObjectSupportSegmentation

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

Public Functions

explicit ObjectSupportSegmentation(rclcpp::Node::SharedPtr node)

Constructor, loads pipeline using ROS parameters.

Parameters:

node – Node instance to use for accessing parameters.

bool segment(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &cloud, std::vector<grasping_msgs::msg::Object> &objects, std::vector<grasping_msgs::msg::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).