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15 #ifndef __PBMAP_PLANE_H
16 #define __PBMAP_PLANE_H
18 #include <mrpt/config.h>
26 #include <pcl/point_types.h>
27 #include <pcl/common/pca.h>
31 #define USE_COMPLETNESS_HEURISTICS 1
32 #define USE_INFERRED_STRUCTURE 1
57 bFromStructure(false),
59 polygonContourPtr(new pcl::PointCloud<pcl::PointXYZRGBA>),
60 planePointCloudPtr(new pcl::PointCloud<pcl::PointXYZRGBA>)
68 void forcePtsLayOnPlane();
74 void calcConvexHull(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr &pointCloud, std::vector<size_t> &indices =
DEFAULT_VECTOR );
76 void calcConvexHullandParams(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr &pointCloud, std::vector<size_t> &indices =
DEFAULT_VECTOR );
82 float compute2DPolygonalArea ();
86 void computeMassCenterAndArea();
91 void calcElongationAndPpalDir();
95 bool isPlaneNearby(
Plane &plane,
const float distThreshold);
99 bool isSamePlane(
Plane &plane,
const float &cosAngleThreshold,
const float &distThreshold,
const float &proxThreshold);
101 bool isSamePlane(Eigen::Matrix4f &Rt,
Plane &plane_,
const float &cosAngleThreshold,
const float &distThreshold,
const float &proxThreshold);
103 bool hasSimilarDominantColor(
Plane &plane,
const float colorThreshold);
108 void mergePlane(
Plane &plane);
109 void mergePlane2(
Plane &plane);
111 void transform(Eigen::Matrix4f &Rt);
174 void calcMainColor();
175 void calcMainColor2();
176 void calcPlaneHistH();
183 std::vector<float>
r;
184 std::vector<float>
g;
185 std::vector<float>
b;
192 std::vector<float>
c1;
193 std::vector<float>
c2;
194 std::vector<float>
c3;
195 void getPlaneC1C2C3();
std::vector< float > hist_H
unsigned nFramesAreaIsStable
std::map< unsigned, unsigned > neighborPlanes
std::vector< std::vector< float > > prog_hist_H
static std::vector< size_t > DEFAULT_VECTOR
std::vector< float > intensity
Eigen::Vector3f v3colorNrgb
! Radiometric description
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::vector< int32_t > inliers
! Convex Hull
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE(class_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
std::vector< double > prog_area
Eigen::Vector3f v3center
! Geometric description
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr outerPolygonPtr
A class used to store a planar feature (Plane for short).
std::vector< Eigen::Vector3f > prog_Nrgb
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr polygonContourPtr
std::vector< Eigen::Vector3f > prog_C1C2C3
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr planePointCloudPtr
std::vector< float > prog_intensity
std::string label_context
std::vector< double > prog_elongation
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
unsigned id
! Parameters to allow the plane-based representation of the map by a graph
Eigen::Vector3f v3PpalDir
Eigen::Matrix4f information
#define DEFINE_SERIALIZABLE_POST_CUSTOM_LINKAGE(class_name, _LINKAGE_)
Eigen::Vector3f v3colorC1C2C3
Eigen::Vector3f v3colorNrgbDev
std::set< unsigned > nearbyPlanes
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