/home/laradmin/lar/perception/planarobstacles/lidar_segmentation/src/lidar_segmentation.h File Reference

Global include file. More...

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <rosbag/bag.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <tf/transform_broadcaster.h>
#include <sstream>
#include "sensor_msgs/LaserScan.h"
#include "geometry_msgs/Point.h"
#include <vector>
#include <iostream>
#include <stdlib.h>
#include <colormap/colormap.h>
#include <utility>
#include <map>
#include <fstream>
#include <string>
#include <ros/package.h>
#include "clustering.h"
#include "groundtruth.h"

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Classes
class	Point
Defines
#define	ABD_SEG 4;
#define	DIET_SEG 3;
#define	NN_SEG 5;
#define	PREM_SEG 2;
#define	SANTOS_B_SEG 7;
#define	SANTOS_C_SEG 6;
#define	SIMPLE_SEG 1;
Typedefs
typedef boost::shared_ptr < ::sensor_msgs::LaserScan >	LaserScanPtr
typedef boost::shared_ptr< Point >	PointPtr
Functions
bool	comparePoints (PointPtr p1, PointPtr p2)
	Comparison function.
int	convertPointsToCluster (const sensor_msgs::LaserScan::ConstPtr &scan_msg, vector< PointPtr > &points, vector< ClusterPtr > &clusters_GT)
	Convert the all Point class from a scan to a Cluster class.
bool	correctClusterId (PointPtr p, int cluster_id)
	Compares the point id to a cluster_id, if true that point is erased.
int	createPointsFromFile (vector< PointPtr > &points, C_DataFromFilePtr data_gt)
	Creates a Point class from the file with the Ground-truth points.
void	filterPoints (vector< PointPtr > &points_in, vector< PointPtr > &points_out, double min_range, double max_range)
	Function that outputs a set of points with range between min_range and max_range values.
void	removeInvalidPoints (vector< PointPtr > &laser_points, vector< ClusterPtr > clusters, uint min_points)
	Removes points belonging to clusters with less than min_points.
int	writeResults_GT (uint iteration, vector< PointPtr > &points, int id_result)
	Wirtes properties of the Ground-truth segments into a text file.
int	writeResults_paths (vector< PointPtr > &points, int algorithm_id, double initial_value, double increment, int number_of_iterations, uint iteration, int id_result)
	Wirtes properties of the Algorithms segments into a text file.

Detailed Description

Global include file.

Author:: Daniel Coimbra

Definition in file lidar_segmentation.h.

Define Documentation

#define ABD_SEG 4;

Definition at line 61 of file lidar_segmentation.h.

#define DIET_SEG 3;

Definition at line 60 of file lidar_segmentation.h.

#define NN_SEG 5;

Definition at line 62 of file lidar_segmentation.h.

#define PREM_SEG 2;

Definition at line 59 of file lidar_segmentation.h.

#define SANTOS_B_SEG 7;

Definition at line 64 of file lidar_segmentation.h.

#define SANTOS_C_SEG 6;

Definition at line 63 of file lidar_segmentation.h.

#define SIMPLE_SEG 1;

Definition at line 58 of file lidar_segmentation.h.

Typedef Documentation

typedef boost::shared_ptr< ::sensor_msgs::LaserScan> LaserScanPtr

Definition at line 102 of file lidar_segmentation.h.

typedef boost::shared_ptr<Point> PointPtr

Definition at line 101 of file lidar_segmentation.h.

Function Documentation

bool comparePoints	(	PointPtr	p1,
		PointPtr	p2
	)

Comparison function.

Parameters:

	p1	first PointPtr input
	p2	second PointPtr input

Returns:: the input with belonging to the lowest iteration and lowest label, else return false

Definition at line 163 of file groundtruth.cpp.

int convertPointsToCluster	(	const sensor_msgs::LaserScan::ConstPtr &	scan_msg,
		vector< PointPtr > &	points,
		vector< ClusterPtr > &	clusters_GT
	)

Convert the all Point class from a scan to a Cluster class.

Parameters:

	scan_msg	incoming LaserScan
	points	incoming Laser Points
	clusters_GT	output vector of clusters, these clusters use the Cluster class

Returns:: Number of clusters on the groundtruth

bool correctClusterId	(	PointPtr	p,
		int	cluster_id
	)

Compares the point id to a cluster_id, if true that point is erased.

Parameters:

	p	point to be compared
	cluster_id	id of the invalid cluster

Returns:: 1 if point id = cluster id

Definition at line 42 of file main.cpp.

int createPointsFromFile	(	vector< PointPtr > &	points,
		C_DataFromFilePtr	data_gt
	)

Creates a Point class from the file with the Ground-truth points.

Parameters:

	points	incoming Laser Points
	data_gts	output x, y and labels from one iteration, it uses the C_DataFromFile class

Returns:: return 0

Definition at line 1272 of file main.cpp.

void filterPoints	(	vector< PointPtr > &	points_in,
		vector< PointPtr > &	points_out,
		double	min_range,
		double	max_range
	)

Function that outputs a set of points with range between min_range and max_range values.

Parameters:

	points_in	incoming Laser Points
	points_out	points with range between the minimum and maximum value
	min_range	minimum range for a point to be considered valid
	max_range	maximum range for a point to be considered valid

Returns:: void

Definition at line 47 of file main.cpp.

void removeInvalidPoints	(	vector< PointPtr > &	laser_points,
		vector< ClusterPtr >	clusters,
		uint	min_points
	)

Removes points belonging to clusters with less than min_points.

Parameters:

	laser_points	incoming Laser Points
	clusters	clusters input vector of clusters, these clusters use the Cluster class
	min_points	clusters with points less than this value are removed

Returns:: void

Definition at line 72 of file main.cpp.

int writeResults_GT	(	uint	iteration,
		vector< PointPtr > &	points,
		int	id_result
	)

Wirtes properties of the Ground-truth segments into a text file.

Parameters:

	iteration	iteration of the Laser Scan
	points	incoming Laser Points
	id_result	if id_result == 1 writes segments' boundaries; else writes segments' centers

Returns:: return 0

Definition at line 222 of file main.cpp.

int writeResults_paths	(	vector< PointPtr > &	points,
		int	algorithm_id,
		double	initial_value,
		double	increment,
		int	number_of_iterations,
		uint	iteration,
		int	id_result
	)

Wirtes properties of the Algorithms segments into a text file.

Parameters:

	points	incoming Laser Points
	algorithm_id	case 1 - Simple Segmentation; case 2 - Multivariable Segmentation; case 3 - Dietmayer Segmentation; case 4 - Adaptive Breakpoint Detector; case 5 - Spatital Nearest Neigbour; case 6 - Santos Approach C0 variation; case 7 - Santos Approach Beta variation;
	initial_value	Initial value of the threshold parameter;
	increment	Increment of the threshold parameter;
	number_of_iterations	Number of threshold variations
	iteration	iteration of the Lasr Scan
	id_result	if id_result == 1 writes segments' boundaries; else writes segments' centers

Returns:: return 0

Definition at line 349 of file main.cpp.

/home/laradmin/lar/perception/planarobstacles/lidar_segmentation/src/lidar_segmentation.h File Reference

Classes

Defines

Typedefs

Functions

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation