CylinderValidator Class Reference

Validates clusters using a cylinder approximation. More...

#include <cylinder_validator.hpp>

Inheritance diagram for CylinderValidator:

Collaboration diagram for CylinderValidator:

Public Member Functions
	CylinderValidator (double small_width, double small_height, double large_width, double large_height, double out_distance_cap)
	Constructs a new CylinderValidator object with specified width and height.
double	small_getRadius () const
	Gets the radius of the cylinder for small cones.
double	large_getRadius () const
	Gets the radius of the cylinder for large cones.
std::vector< double >	coneValidator (Cluster *cone_point_cloud, Plane &plane) const override
	Validates a cluster using cylinder approximation.

Private Attributes
double	small_width
	Width of the cylinder for a small cone.
double	small_height
	Height of the cylinder for a small cone.
double	large_width
	Width of the cylinder for a large cone.
double	large_height
	Height of the cylinder for a large cone.
double	out_distance_cap
	Minimum out_distance value for it to be 0.

Detailed Description

Validates clusters using a cylinder approximation.

The CylinderValidator class inherits from the ConeValidator class and implements cluster validation using a cylinder approximation. It provides methods to set and retrieve cylinder dimensions and to perform validation of clusters.

Definition at line 13 of file cylinder_validator.hpp.

Constructor & Destructor Documentation

CylinderValidator()

CylinderValidator::CylinderValidator	(	double	small_width,
		double	small_height,
		double	large_width,
		double	large_height,
		double	out_distance_cap
	)

Constructs a new CylinderValidator object with specified width and height.

Parameters

small_width	The width of the cylinder for a small cone.
small_height	The height of the cylinder for a small cone.
large_width	The width of the cylinder for a large cone.
large_height	The height of the cylinder for a large cone.
out_distance_cap	Minimum out_distance value for a cluster to have a 0 result.

Definition at line 3 of file cylinder_validator.cpp.

Member Function Documentation

coneValidator()

std::vector< double > CylinderValidator::coneValidator ( Cluster *  cone_point_cloud, Plane &  plane  ) const

overridevirtual

Validates a cluster using cylinder approximation.

Parameters

cone_point_cloud

Pointer to the cluster to be validated.

Returns

Vector containing:
Index 0 -> Ratio of between distance to the farthest point and the cylinder radius.| Index 1 -> Ratio of between distance to the farthest point and the cylinder heigth.| Index 2 -> Ratio between the number of points outside the cylinder and the total.

Implements ConeValidator.

Definition at line 15 of file cylinder_validator.cpp.

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large_getRadius()

double CylinderValidator::large_getRadius

(

)

const

Gets the radius of the cylinder for large cones.

Returns

The radius of the cylinder for large cones.

Definition at line 13 of file cylinder_validator.cpp.

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small_getRadius()

double CylinderValidator::small_getRadius

(

)

const

Gets the radius of the cylinder for small cones.

Returns

The radius of the cylinder for small cones.

Definition at line 11 of file cylinder_validator.cpp.

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Member Data Documentation

large_height

double CylinderValidator::large_height

private

Height of the cylinder for a large cone.

Definition at line 52 of file cylinder_validator.hpp.

large_width

double CylinderValidator::large_width

private

Width of the cylinder for a large cone.

Definition at line 51 of file cylinder_validator.hpp.

out_distance_cap

double CylinderValidator::out_distance_cap

private

Minimum out_distance value for it to be 0.

Definition at line 53 of file cylinder_validator.hpp.

small_height

double CylinderValidator::small_height

private

Height of the cylinder for a small cone.

Definition at line 50 of file cylinder_validator.hpp.

small_width

double CylinderValidator::small_width

private

Width of the cylinder for a small cone.

Definition at line 49 of file cylinder_validator.hpp.

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

• src/perception/include/cone_validator/cylinder_validator.hpp
• src/perception/src/cone_validator/cylinder_validator.cpp