/home/laradmin/lar/utils/mit_darpa_logs_player/src/publish_mit_logs.cpp File Reference

Reads lcm logs and publishes in ROS messages format. Also save a ros bag file. More...

#include "publish_mit_logs.h"
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "config.h"
#include "config_util.h"
#include "eventlog.h"
#include "lcmtypes_velodyne_t.h"
#include "lcmtypes_image_t.h"
#include "lcmtypes_pose_t.h"
#include "small_linalg.h"
#include "velodyne.h"
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/PoseStamped.h>
#include <cmath>
#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl_ros/point_cloud.h>
#include "rotations.h"
#include "pcl_ros/transforms.h"
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <cv_bridge/cv_bridge.h>
#include <tf/transform_broadcaster.h>
#include <Eigen/Geometry>
#include <stdint.h>
#include <ios>
#include <string>
#include <boost/shared_ptr.hpp>
#include <bzlib.h>
#include <ros/exception.h>
#include "rosbag/exceptions.h"
#include <map>
#include <vector>
#include "ros/time.h"
#include <boost/shared_array.hpp>
#include "common.h"
#include "ros/message_traits.h"
#include "ros/subscription_callback_helper.h"
#include <queue>
#include <set>
#include <stdexcept>
#include <boost/format.hpp>
#include <boost/iterator/iterator_facade.hpp>
#include "rosbag/structures.h"
#include "rosbag/bag.h"

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Functions
void	copy_pixels_to_image_msg_data (unsigned char *in, sensor_msgs::Image *image, int size)
int	main (int argc, char **argv)
void	set_fixed_fields_image_msg (sensor_msgs::Image *msg, int height, int width, char *encoding, int is_bigendian, char *frame_id)
void	signal_handler (int sig)

---

Detailed Description

Reads lcm logs and publishes in ROS messages format. Also save a ros bag file.

Definition in file publish_mit_logs.cpp.

---

Function Documentation

void copy_pixels_to_image_msg_data	(	unsigned char *	in,
		sensor_msgs::Image *	image,
		int	size
	)

Definition at line 66 of file publish_mit_logs.cpp.

int main	(	int	argc,
		char **	argv
	)

-------------------------------------------------------------------- Following tutorial on http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/Sensors#Publishing_PointClouds_over_ROS Point_Cloud_2 msg is defined at http://www.ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html --------------------------------------------------------------------

Initialize ROS coms

Definition at line 115 of file publish_mit_logs.cpp.

void set_fixed_fields_image_msg	(	sensor_msgs::Image *	msg,
		int	height,
		int	width,
		char *	encoding,
		int	is_bigendian,
		char *	frame_id
	)

Definition at line 99 of file publish_mit_logs.cpp.

void signal_handler

(

int

sig

)

Definition at line 40 of file publish_mit_logs.cpp.