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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

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
 

Member Function Documentation

◆ isFullExtent()

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.

◆ isPlaneCutbyImage()

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"

◆ isSurroundingBackground()

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

◆ searchTheFloor()

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

Floor plane id*‍/ int FloorPlaneMap;

Constructor PlaneInferredInfo(PbMap &mPbM) : mPbMap(mPbM) { };

/*!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

◆ mPbMap

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

Definition at line 72 of file PlaneInferredInfo.h.




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