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 | |
PbMap & | mPbMap |
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 | ||
) |
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
|
private |
Definition at line 72 of file PlaneInferredInfo.h.
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