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mrpt::pbmap::PlaneInferredInfo Class Reference

Detailed Description

A class used to infer some semantic meaning to the planes of a PbMap.

This knowledge is inferred through some heristics to determine if a plane correspond to the floor, or to a wall ("structural plane") or if instead it is a contextual plane (e.g. TV, worktop).

Definition at line 36 of file PlaneInferredInfo.h.

#include <mrpt/pbmap/PlaneInferredInfo.h>

Public Member Functions

 PlaneInferredInfo (PbMap &mPbM)
 
bool searchTheFloor (Eigen::Matrix4f &poseSensor, Plane &plane)
 
bool isPlaneCutbyImage (std::vector< int > &planeIndices, unsigned &widthSampledImage, unsigned &heightSampledImage, unsigned threshold)
 
bool isSurroundingBackground (Plane &plane, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &frame, std::vector< int > &planeIndices, unsigned threshold)
 
void isFullExtent (Plane &plane, double newArea)
 

Private Attributes

PbMapmPbMap
 

Constructor & Destructor Documentation

mrpt::pbmap::PlaneInferredInfo::PlaneInferredInfo ( PbMap mPbM)
inline

Floor plane id

Definition at line 45 of file PlaneInferredInfo.h.

Member Function Documentation

void mrpt::pbmap::PlaneInferredInfo::isFullExtent ( Plane plane,
double  newArea 
)

Check if the input plane represents completely a 3D planar surface. It uses some heuristics to mark a plane as "Complete" when its area does not grow after subsequent observations.

bool mrpt::pbmap::PlaneInferredInfo::isPlaneCutbyImage ( std::vector< int > &  planeIndices,
unsigned &  widthSampledImage,
unsigned &  heightSampledImage,
unsigned  threshold 
)

Check if the input planar patch (after segmentation) is cut by the image. It checks that the inliers "planeIndices" fulfill a minimum distance "threshold" with the border of the image, whose size is defined by "widthSampledImage" x "heightSampledImage"

bool mrpt::pbmap::PlaneInferredInfo::isSurroundingBackground ( Plane plane,
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &  frame,
std::vector< int > &  planeIndices,
unsigned  threshold 
)

Check if the input planar patch (after segmentation) is cut by the image. It checks that the nearer 3D points to the plane's convex hull are behind the plane

bool mrpt::pbmap::PlaneInferredInfo::searchTheFloor ( Eigen::Matrix4f &  poseSensor,
Plane plane 
)

Check if the input plane fulfill some heuristics and so we can infer some knowledge, e.g. the plane correspond to the floor, a wall, the ceiling, in the world. It also makes use of the current sensor pose to verify some assumptions. // Modificar con un define esto ultimo

Member Data Documentation

PbMap& mrpt::pbmap::PlaneInferredInfo::mPbMap
private

Definition at line 72 of file PlaneInferredInfo.h.




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