#include <plane_model_road_segmentation.h>
Public Member Functions | |
| tf::Transform | find_and_publish_road_frame (const sensor_msgs::PointCloud2ConstPtr &msg) |
| overload function for ros msgs Converts sensor_msgs::PointCloud2 to pcl and calls the function find_and_publish_road_frame(pcl::PointCloud< T> pc) | |
| tf::Transform | find_and_publish_road_frame (pcl::PointCloud< T > cloud_in) |
| get and publish the road frame T his f*unction does all the work for you. here are the main steps: STEP 1 create the model coeeficients STEP 2 project origin to plane, for example STEP 3 Find the difference between the cloud frame_id to ground STEP 4 Calculate the difference z axis STEP 5 Publish the road frame | |
| bool | find_road_frame (const sensor_msgs::PointCloud2ConstPtr &msg) |
| overload function for ros msgs Converts sensor_msgs::PointCloud2 to pcl and calls the function find_road_frame(pcl::PointCloud< T> pc) | |
| bool | find_road_frame (pcl::PointCloud< T > cloud_in) |
| get the road reference frame | |
| pcl::PointCloud< T > | get_plane_coefficients (pcl::PointCloud< T > cloud_in, int iterations, float threshold, pcl::ModelCoefficients::Ptr coefficients) |
| Calculate plane coefficients It uses pcl RANSAC model to estimate the coeeficients of a plane. | |
| plane_model_road () | |
| ~plane_model_road () | |
Public Attributes | |
| tf::TransformBroadcaster * | broadcast_ptr |
| pcl::ModelCoefficients::Ptr | coef |
| bool | debug |
| int | iterations |
| tf::TransformListener * | listener_atc_ground_ptr |
| T | point_origin |
| T | point_x |
| T | point_y |
| std::string | pub_frame_name |
| std::string | reference_ground_frame |
| float | threshold |
Private Member Functions | |
| bool | check_distance (double distance, double threshold) |
| check if distance matches with threshold If returned true, you probably get the road plane | |
| vector< double > | find_RP_angle (T origin_projected, T pt_x_projected, T pt_y_projected) |
| find RP angles for road frame Gets the road frame RP angles. Notice that you don't need the Y. | |
| tf::Transform | get_transform (T origin_projected, T pt_x_projected, T pt_y_projected) |
| get the transformation point Gets the road transform to publish | |
| T | project_point_to_plane (const T ptin, const pcl::ModelCoefficients::Ptr coeff) |
| Project a point on a plane It uses pcl projectinliers to project a point on a plane. | |
| T | transform_pcl_point (std::string frame1, std::string frame2, T pt_origin) |
| Transform a pcl point between two ros frames It uses a tf::Stamped transform to transform a point between reference frames. | |
Private Attributes | |
| T | origin_projected |
| pcl::PointCloud< T > | outliers |
| T | pt_x_projected |
| T | pt_y_projected |
This is a class to detect the road reference frame
Definition at line 71 of file plane_model_road_segmentation.h.
| plane_model_road< T >::plane_model_road | ( | ) | [inline] |
Definition at line 147 of file plane_model_road_segmentation.h.
| plane_model_road< T >::~plane_model_road | ( | ) | [inline] |
Definition at line 160 of file plane_model_road_segmentation.h.
| bool plane_model_road< T >::check_distance | ( | double | distance, | |
| double | threshold | |||
| ) | [inline, private] |
check if distance matches with threshold If returned true, you probably get the road plane
| [in] | distance | |
| [in] | threshold |
Definition at line 200 of file plane_model_road_segmentation.h.
| tf::Transform plane_model_road< T >::find_and_publish_road_frame | ( | const sensor_msgs::PointCloud2ConstPtr & | msg | ) | [inline] |
overload function for ros msgs Converts sensor_msgs::PointCloud2 to pcl and calls the function find_and_publish_road_frame(pcl::PointCloud< T> pc)
| [in] | msg |
Definition at line 118 of file plane_model_road_segmentation_implementation.hpp.
| tf::Transform plane_model_road< T >::find_and_publish_road_frame | ( | pcl::PointCloud< T > | cloud_in | ) | [inline] |
get and publish the road frame T his f*unction does all the work for you. here are the main steps: STEP 1 create the model coeeficients STEP 2 project origin to plane, for example STEP 3 Find the difference between the cloud frame_id to ground STEP 4 Calculate the difference z axis STEP 5 Publish the road frame
| [in] | origin_projected |
Definition at line 103 of file plane_model_road_segmentation_implementation.hpp.
| bool plane_model_road< T >::find_road_frame | ( | const sensor_msgs::PointCloud2ConstPtr & | msg | ) | [inline] |
overload function for ros msgs Converts sensor_msgs::PointCloud2 to pcl and calls the function find_road_frame(pcl::PointCloud< T> pc)
| [in] | msg |
Definition at line 94 of file plane_model_road_segmentation_implementation.hpp.
| bool plane_model_road< T >::find_road_frame | ( | pcl::PointCloud< T > | cloud_in | ) | [inline] |
get the road reference frame
T h*is function does all the work for you. here are the main steps: STEP 1 create the model coeeficients STEP 2 project origin to plane, for example STEP 3 Find the difference between the cloud frame_id to ground STEP 4 Calculate the difference z axis
| [in] | cloud_in |
Definition at line 62 of file plane_model_road_segmentation_implementation.hpp.
| vector< double > plane_model_road< T >::find_RP_angle | ( | T | origin_projected, | |
| T | pt_x_projected, | |||
| T | pt_y_projected | |||
| ) | [inline, private] |
find RP angles for road frame Gets the road frame RP angles. Notice that you don't need the Y.
| [in] | origin_projected | |
| [in] | pt_x_projected | |
| [in] | pt_y_projected |
Definition at line 202 of file plane_model_road_segmentation_implementation.hpp.
| pcl::PointCloud< T > plane_model_road< T >::get_plane_coefficients | ( | pcl::PointCloud< T > | cloud_in, | |
| int | iterations, | |||
| float | threshold, | |||
| pcl::ModelCoefficients::Ptr | coefficients | |||
| ) | [inline] |
Calculate plane coefficients It uses pcl RANSAC model to estimate the coeeficients of a plane.
You may use after call yhis function: (to see Ax+By+Cz+D=0)
cout<< coeeficients.values<<endl;
| [in] | *ptin | |
| [in] | iterations | |
| [in] | threshold | |
| [out] | coefficients |
Definition at line 127 of file plane_model_road_segmentation_implementation.hpp.
| tf::Transform plane_model_road< T >::get_transform | ( | T | origin_projected, | |
| T | pt_x_projected, | |||
| T | pt_y_projected | |||
| ) | [inline, private] |
get the transformation point Gets the road transform to publish
| [in] | origin_projected | |
| [in] | pt_x_projected | |
| [in] | pt_y_projected |
Definition at line 40 of file plane_model_road_segmentation_implementation.hpp.
| T plane_model_road< T >::project_point_to_plane | ( | const T | ptin, | |
| const pcl::ModelCoefficients::Ptr | coeff | |||
| ) | [inline, private] |
Project a point on a plane It uses pcl projectinliers to project a point on a plane.
| [in] | *ptin | |
| [in] | coeff |
Definition at line 161 of file plane_model_road_segmentation_implementation.hpp.
| T plane_model_road< T >::transform_pcl_point | ( | std::string | frame1, | |
| std::string | frame2, | |||
| T | pt_origin | |||
| ) | [inline, private] |
Transform a pcl point between two ros frames It uses a tf::Stamped transform to transform a point between reference frames.
| [in] | frame1 | |
| [in] | frame2 | |
| [in] | pt_origin |
Definition at line 182 of file plane_model_road_segmentation_implementation.hpp.
| tf::TransformBroadcaster* plane_model_road< T >::broadcast_ptr |
Definition at line 141 of file plane_model_road_segmentation.h.
| pcl::ModelCoefficients::Ptr plane_model_road< T >::coef |
Definition at line 144 of file plane_model_road_segmentation.h.
| bool plane_model_road< T >::debug |
Definition at line 136 of file plane_model_road_segmentation.h.
| int plane_model_road< T >::iterations |
Definition at line 135 of file plane_model_road_segmentation.h.
| tf::TransformListener* plane_model_road< T >::listener_atc_ground_ptr |
Definition at line 140 of file plane_model_road_segmentation.h.
T plane_model_road< T >::origin_projected [private] |
Definition at line 169 of file plane_model_road_segmentation.h.
pcl::PointCloud<T> plane_model_road< T >::outliers [private] |
Definition at line 163 of file plane_model_road_segmentation.h.
| T plane_model_road< T >::point_origin |
Definition at line 137 of file plane_model_road_segmentation.h.
| T plane_model_road< T >::point_x |
Definition at line 138 of file plane_model_road_segmentation.h.
| T plane_model_road< T >::point_y |
Definition at line 139 of file plane_model_road_segmentation.h.
T plane_model_road< T >::pt_x_projected [private] |
Definition at line 170 of file plane_model_road_segmentation.h.
T plane_model_road< T >::pt_y_projected [private] |
Definition at line 171 of file plane_model_road_segmentation.h.
| std::string plane_model_road< T >::pub_frame_name |
Definition at line 142 of file plane_model_road_segmentation.h.
| std::string plane_model_road< T >::reference_ground_frame |
Definition at line 143 of file plane_model_road_segmentation.h.
| float plane_model_road< T >::threshold |
Definition at line 134 of file plane_model_road_segmentation.h.
