#include <polygon_primitive_with_texture.h>

Inheritance diagram for c_polygon_primitive_with_texture:

Public Member Functions
int	add_camera_projection (cv::Mat *m, ros::Time t, double fx, double fy, double cx, double cy, tf::StampedTransform tf, double k1, double k2, double p1, double p2, double k3, double sd_cx, double sd_cy, double param, double scale, std::string projection_name, cv::Scalar color)

int	add_camera_projection_known_camera (cv::Mat *m, ros::Time t, tf::StampedTransform tf, std::string cam_name, std::string projection_name, cv::Scalar color)

int	add_camera_projection_to_triangle_mesh (int projection_index, ros::Publisher *p_marker_pub)

size_t	ask_for_number (void)

int	build_global_mesh (ros::Publisher *p_marker_pub)

int	build_global_texture_set (ros::Publisher *p_marker_pub)

	c_polygon_primitive_with_texture (ros::NodeHandle *n)

int	compute_mean_and_std (std::vector< float > v, float mean, float *std)

int	compute_projection_union (void)

int	create_textures_vizualization_msg (visualization_msgs::MarkerArray *marker_vec, bool reset_id=false)

int	erase_old_markers (visualization_msgs::MarkerArray *marker_vec, unsigned int from, unsigned int to, std::string namesp)

int	get_mesh_statistics (void)

int	publish_to_rviz (ros::Publisher *p_marker_pub)

int	readapt_to_new_plane (polygon_primitive_msg::polygon_primitive *new_plg)

Public Member Functions inherited from c_polygon_primitive
	c_polygon_primitive (ros::NodeHandle node, const char name="unamed", unsigned char r=0, unsigned char g=0, unsigned char b=0)
	Constructor. Allocates space for the required objecs. More...

void	compute_concave_hull (pcl::PointCloud< pcl::PointXYZ >::Ptr pcin, pcl::PointCloud< pcl::PointXYZ >::Ptr pcout, const pcl::ModelCoefficients::Ptr coeff)
	Computes the concave_hull of a given point cloud. More...

void	compute_convex_hull (const pcl::PointCloud< pcl::PointXYZ >::Ptr pcin, const pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud< pcl::PointXYZ >::Ptr pcout)
	Uses pcl library to compute the convex hull of a set of points in pcin, by projecting them first to the plane defined by coeff. More...

void	compute_convex_hull_cgal (const pcl::PointCloud< pcl::PointXYZ >::Ptr pcin, const pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud< pcl::PointXYZ >::Ptr pcout, tf::Transform *tr, double &area, double &solidity, bool flg=false)

void	compute_convex_hull_cgal (const pcl::PointCloud< pcl::PointXYZ >::Ptr pcin, const pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud< pcl::PointXYZ >::Ptr pcout, tf::Transform *tr)
	Uses cgal to compute the convex hull of the points in pcin. First, points are projected to the plane defined by coeff. Outputs the area and solidity of the hull. More...

int	compute_supporting_perpendicular_plane_ransac (pcl::PointCloud< pcl::PointXYZ > pc_in, pcl::PointCloud< pcl::Normal > n_in, double DistanceThreshold, double NormalDistanceWeight, int MaxIterations, pcl::PointIndices::Ptr ind_out, pcl::ModelCoefficients::Ptr coeff_out)

int	compute_supporting_plane_ransac (pcl::PointCloud< pcl::PointXYZ > input_cloud, pcl::PointCloud< pcl::Normal > input_normals, double DistanceThreshold, double NormalDistanceWeight, int MaxIterations, pcl::PointIndices::Ptr indices, pcl::ModelCoefficients::Ptr coefficients)

visualization_msgs::Marker	create_visualization_marker_header (std::string frame_id, ros::Time stamp, std::string name, int action, int id, int type, double px, double py, double pz, double qx, double qy, double qz, double qw, double sx, double sy, double sz, double cr, double cg, double cb, double alpha)

int	create_vizualization_msgs (visualization_msgs::MarkerArray *marker_vec, unsigned int id_start=0)

int	export_to_polygon_primitive_msg (polygon_primitive_msg::polygon_primitive *msg)

int	import_from_polygon_primitive_msg (polygon_primitive_msg::polygon_primitive *msg)

int	indices_extraction (pcl::PointIndices::Ptr ind, pcl::PointCloud< pcl::PointXYZ > input_cloud, pcl::PointCloud< pcl::PointXYZ > remove_cloud, pcl::PointCloud< pcl::PointXYZ >::Ptr copy_cloud, pcl::PointCloud< pcl::Normal > input_normals, pcl::PointCloud< pcl::Normal > remove_normals, int compute_normals=1)
	Extracts points from input pc and copies them to copy_cloud. Does the same with normals. More...

int	polygon_create (pcl::PointCloud< pcl::PointXYZ > input_cloud, pcl::PointCloud< pcl::Normal > input_normals, double DistanceThreshold=0.5, double NormalDistanceWeight=0.5, int MaxIterations=1000, int do_spatial_division=0)
	Computes a polygon primitive candidate from an input point cloud and its normals. More...

int	polygon_expansion (pcl::PointCloud< pcl::PointXYZ > input_cloud, double longitudinal_offset=0.2, double perpendicular_offset=0.3, pcl::PointCloud< pcl::Normal > input_normals=NULL)
	Grows polygon by adding points from the input pc that are close to the plane and inside the convex hull. First perfoms a longitudinal expansion of the convex hull, and then selects points which are in the prisma defined by the perpeddicular -/+ offset of the extended convex hull. More...

void	polygon_split (pcl::PointCloud< pcl::PointXYZ >::Ptr pcin, pcl::PointCloud< pcl::PointXYZ >::Ptr pcdumpster, pcl::ModelCoefficients::Ptr coeff)

int	print_polygon_information (void)

void	project_pc_to_plane (pcl::PointCloud< pcl::PointXYZ >::Ptr pcin, pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud< pcl::PointXYZ >::Ptr pcout)
	Projects all the points in pcin to a plane (along the normal to that plane) defined by coeff and stores the projected points in pcout. More...

	~c_polygon_primitive ()
	Destructor. Frees the space of objects. More...

Public Attributes
class_colormap *	colormap

std::vector < class_camera_projection >	cp

class_constrained_delaunay_triangulation	dp

pthread_mutex_t	mutex

pcl::PointCloud< pcl::PointXYZ >	next_triangle

pthread_t	thread

class_texture_set	ts

Public Attributes inherited from c_polygon_primitive
t_polygon_primitive_data	data

struct {
pcl::PointCloud< pcl::PointXYZ > ::Ptr additional
	A point cloud with all supporting points. More...

pcl::PointCloud< pcl::PointXYZ > ::Ptr all

pcl::PointCloud< pcl::PointXYZ > ::Ptr growed
	The points that are to be added to the point cloud after an expand operation. More...

pcl::PointCloud< pcl::PointXYZ > ::Ptr projected
	A point cloud with all supporting points. More...

pcl::PointCloud< pcl::PointXYZ > ::Ptr tmp
	Dont know. More...

}	pointclouds
	A structure containing all the point clouds needed to represent the polygon primitive. More...

ros::NodeHandle *	rosnode

Private Attributes
unsigned int	id_camera_canvas

unsigned int	id_camera_intersection

unsigned int	id_camera_intersection_vertices

unsigned int	id_camera_position

unsigned int	id_constraints

unsigned int	id_edge0

unsigned int	id_edge1

unsigned int	id_edge2

unsigned int	id_local_mesh

unsigned int	id_next_triangle

unsigned int	id_projection_name

unsigned int	id_projection_union

unsigned int	id_projection_union_vertices

unsigned int	id_proveniences

unsigned int	id_start

unsigned int	id_textured_triangles

unsigned int	id_triangle_edges

unsigned int	id_triangle_vertices

unsigned int	id_vertices_indices

unsigned int	id_visited_faces

std::string	ns_camera_canvas

std::string	ns_camera_intersection

std::string	ns_camera_intersection_vertices

std::string	ns_camera_position

std::string	ns_constraints

std::string	ns_edge0

std::string	ns_edge1

std::string	ns_edge2

std::string	ns_local_mesh

std::string	ns_next_triangle

std::string	ns_projection_name

std::string	ns_projection_union

std::string	ns_projection_union_vertices

std::string	ns_proveniences

std::string	ns_textured_triangles

std::string	ns_triangle_edges

std::string	ns_triangle_vertices

std::string	ns_vertices_indices

std::string	ns_visited_faces

Detailed Description

Definition at line 54 of file polygon_primitive_with_texture.h.

Constructor & Destructor Documentation

c_polygon_primitive_with_texture::c_polygon_primitive_with_texture ( ros::NodeHandle * n )

inline

Definition at line 61 of file polygon_primitive_with_texture.h.

Member Function Documentation

int c_polygon_primitive_with_texture::add_camera_projection_to_triangle_mesh	(	int	projection_index,
		ros::Publisher *	p_marker_pub
	)

int c_polygon_primitive_with_texture::build_global_texture_set ( ros::Publisher * p_marker_pub )

Member Data Documentation

class_colormap* c_polygon_primitive_with_texture::colormap

Definition at line 113 of file polygon_primitive_with_texture.h.

std::vector<class_camera_projection> c_polygon_primitive_with_texture::cp

Definition at line 109 of file polygon_primitive_with_texture.h.

class_constrained_delaunay_triangulation c_polygon_primitive_with_texture::dp

Definition at line 106 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_camera_canvas

private

Definition at line 143 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_camera_intersection

private

Definition at line 149 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_camera_intersection_vertices

private

Definition at line 151 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_camera_position

private

Definition at line 145 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_constraints

private

Definition at line 139 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_edge0

private

Definition at line 129 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_edge1

private

Definition at line 131 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_edge2

private

Definition at line 133 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_local_mesh

private

Definition at line 141 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_next_triangle

private

Definition at line 135 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_projection_name

private

Definition at line 147 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_projection_union

private

Definition at line 159 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_projection_union_vertices

private

Definition at line 161 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_proveniences

private

Definition at line 137 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_start

private

Definition at line 164 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_textured_triangles

private

Definition at line 153 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_triangle_edges

private

Definition at line 155 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_triangle_vertices

private

Definition at line 157 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_vertices_indices

private

Definition at line 127 of file polygon_primitive_with_texture.h.

unsigned int c_polygon_primitive_with_texture::id_visited_faces

private

Definition at line 125 of file polygon_primitive_with_texture.h.

pthread_mutex_t c_polygon_primitive_with_texture::mutex

Definition at line 114 of file polygon_primitive_with_texture.h.

pcl::PointCloud<pcl::PointXYZ> c_polygon_primitive_with_texture::next_triangle

Definition at line 111 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_camera_canvas

private

Definition at line 144 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_camera_intersection

private

Definition at line 150 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_camera_intersection_vertices

private

Definition at line 152 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_camera_position

private

Definition at line 146 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_constraints

private

Definition at line 140 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_edge0

private

Definition at line 130 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_edge1

private

Definition at line 132 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_edge2

private

Definition at line 134 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_local_mesh

private

Definition at line 142 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_next_triangle

private

Definition at line 136 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_projection_name

private

Definition at line 148 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_projection_union

private

Definition at line 160 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_projection_union_vertices

private

Definition at line 162 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_proveniences

private

Definition at line 138 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_textured_triangles

private

Definition at line 154 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_triangle_edges

private

Definition at line 156 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_triangle_vertices

private

Definition at line 158 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_vertices_indices

private

Definition at line 128 of file polygon_primitive_with_texture.h.

std::string c_polygon_primitive_with_texture::ns_visited_faces

private

Definition at line 126 of file polygon_primitive_with_texture.h.

pthread_t c_polygon_primitive_with_texture::thread

Definition at line 115 of file polygon_primitive_with_texture.h.

class_texture_set c_polygon_primitive_with_texture::ts

Definition at line 112 of file polygon_primitive_with_texture.h.

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

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation