PCLObjectDetector Class Reference

#include <PCLObjectDetector.hpp>

Inheritance diagram for PCLObjectDetector:

Public Member Functions
int	filter_pcl (pclPtrType p_pclPtr, pclPtrType p_cloudFiltered, float p_leafsize, float y_min, float y_max)
virtual std::shared_ptr< std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > >	cluster_data (pclPtrType p_pclPtr, std::vector< Object > &p_objectsVecRef, float clusterTolerance, int minClusterSize, int maxClusterSize) const =0
std::string	get_name (void)

Protected Attributes
std::string	m_name = "none"

Private Member Functions
void	passThroughFilter (pclPtrType p_inputCloudPtr, pclPtrType p_outputCloudPtr, float y_min, float y_max)
void	downsampling (pclPtrType p_inputCloudPtr, pclPtrType p_outputCloudPtr, float p_leafSize)

Detailed Description

Definition at line 28 of file PCLObjectDetector.hpp.

Member Function Documentation

cluster_data()

virtual std::shared_ptr<std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> > PCLObjectDetector::cluster_data ( pclPtrType  p_pclPtr, std::vector< Object > &  p_objectsVecRef, float  clusterTolerance, int  minClusterSize, int  maxClusterSize  ) const

pure virtual

Implemented in EuclideanDetector.

downsampling()

void PCLObjectDetector::downsampling ( pclPtrType  p_inputCloudPtr, pclPtrType  p_outputCloudPtr, float  p_leafSize  )

private

Definition at line 101 of file PCLObjectDetector.cpp.

                                                                                                              {
  pcl::VoxelGrid<pcl::PointXYZ> sor;
  sor.setInputCloud(p_inputCloudPtr);
  sor.setLeafSize(p_leafSize, p_leafSize, p_leafSize);
  sor.filter(*p_outputCloudPtr);
}

Referenced by filter_pcl().

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filter_pcl()

int PCLObjectDetector::filter_pcl ( pclPtrType  p_pclPtr, pclPtrType  p_cloudFiltered, float  p_leafsize, float  y_min, float  y_max  )

inline

Definition at line 38 of file PCLObjectDetector.hpp.

                                                                                                              {
    int ret = 0;
 
    if(p_pclPtr == nullptr) {
      ret = -1;
    } else {
      downsampling(p_pclPtr, p_cloudFiltered, p_leafsize);
 
      passThroughFilter(p_cloudFiltered, p_cloudFiltered, y_min, y_max);
 
      ret = 0;
    }
 
    return ret;
  };

References downsampling(), and passThroughFilter().

Referenced by RealSenseNode::object_detection().

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get_name()

std::string PCLObjectDetector::get_name ( void  )

inline

Definition at line 56 of file PCLObjectDetector.hpp.

                           {
    return m_name;
  };

References m_name.

passThroughFilter()

void PCLObjectDetector::passThroughFilter ( pclPtrType  p_inputCloudPtr, pclPtrType  p_outputCloudPtr, float  y_min, float  y_max  )

private

Definition at line 108 of file PCLObjectDetector.cpp.

                                                                                                                           {
  // pcl::PassThrough<pcl::PointXYZ> pass_z;
  // pass_z.setInputCloud(p_inputCloudPtr);
  // pass_z.setFilterFieldName("z");
  // pass_z.setFilterLimits(0.18, 2.0);
  // pass_z.filter(*p_outputCloudPtr);
 
  // pcl::PassThrough<pcl::PointXYZ> pass_y;
  // pass_y.setInputCloud(p_inputCloudPtr);
  // pass_y.setFilterFieldName("y");
  // pass_y.setFilterLimits(y_min, y_max);
  // pass_y.filter(*p_outputCloudPtr);
}

Referenced by filter_pcl().

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Member Data Documentation

m_name

std::string PCLObjectDetector::m_name = "none"

protected

Definition at line 35 of file PCLObjectDetector.hpp.

Referenced by EuclideanDetector::EuclideanDetector(), and get_name().

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

• nodes/RealSenseNode/include/PCLObjectDetector.hpp
• nodes/RealSenseNode/src/PCLObjectDetector.cpp