HLR::PointCloud::ObjectInterpreter Class Reference

Class responsible for merging the world data from the Kinect and the LiDAR. More...

#include <ObjectInterpreter.hpp>

Collaboration diagram for HLR::PointCloud::ObjectInterpreter:

Public Member Functions
std::vector< Object >	get_current_objects (const HLR::Vision::CupDetection &detected_cups, const pcl::PointCloud< pcl::PointXYZ > &point_cloud)
	Returns all the objects visible at this moment. More...
std::vector< Object >	get_changed_objects (const HLR::Vision::CupDetection &detected_cups, const pcl::PointCloud< pcl::PointXYZ > &point_cloud)
	Returns all the objects visible at this moment that changed since last call of this function. More...
std::vector< Object >	determine_speed (std::vector< Object > &objects, long milliseconds_since_epoch=-1)
	Calculates the speed of the objects in de list based on the middlepoint and given ID. More...

Detailed Description

Class responsible for merging the world data from the Kinect and the LiDAR.

Member Function Documentation

std::vector<Object> HLR::PointCloud::ObjectInterpreter::determine_speed	(	std::vector< Object > &	objects,
		long	milliseconds_since_epoch = -1
	)

Calculates the speed of the objects in de list based on the middlepoint and given ID.

Parameters

objects	The objects that should get a speed.
milliseconds_since_epoch	If equals -1 it uses the system time.

Returns

The same list of objects, but with the speed set.

std::vector<Object> HLR::PointCloud::ObjectInterpreter::get_changed_objects	(	const HLR::Vision::CupDetection &	detected_cups,
		const pcl::PointCloud< pcl::PointXYZ > &	point_cloud
	)

Returns all the objects visible at this moment that changed since last call of this function.

calls HLR::PointCloud::Object::operator!=(const Object& rhs) const on current_object and history.

Parameters

detected_cups	The latest depth frame and coordinates of cups found.
point_cloud	The latest point cloud generated from the LiDAR.

Returns

vector of Object that changed

std::vector<Object> HLR::PointCloud::ObjectInterpreter::get_current_objects	(	const HLR::Vision::CupDetection &	detected_cups,
		const pcl::PointCloud< pcl::PointXYZ > &	point_cloud
	)

Returns all the objects visible at this moment.

Parameters

detected_cups	The latest depth frame and coordinates of cups found.
point_cloud	The latest point cloud generated from the LiDAR.

Returns

All current objects.

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

• src/PointCloud/ObjectInterpreter.hpp