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
PbMap &	mPbMap

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.