/home/laradmin/lar/perception/planarobstacles/lidar_segmentation/src/main.cpp File Reference

Main node source code, handlers and loop. More...

#include "lidar_segmentation.h"
#include "clustering.h"
#include "groundtruth.h"
#include "visualization_rviz.h"
#include <vector>

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Functions
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	dataFromFileHandler (vector< PointPtr > &groundtruth_points, int iteration)
	Handler for the incoming data.
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.
int	main (int argc, char **argv)
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.
Variables
ros::Publisher	markers_pub
int	scan_header

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Detailed Description

Main node source code, handlers and loop.

Author:

Daniel Coimbra

Definition in file main.cpp.

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Function Documentation

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 dataFromFileHandler	(	vector< PointPtr > &	groundtruth_points,
		int	iteration
	)

Handler for the incoming data.

Parameters:

	points	incoming Laser Points
	iteration	iteration of the Laser Scan

Returns:

void

Definition at line 94 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.

int main	(	int	argc,
		char **	argv
	)

Definition at line 1300 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.

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Variable Documentation

ros::Publisher markers_pub

Definition at line 39 of file main.cpp.

int scan_header

Definition at line 40 of file main.cpp.