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

functions to read velodyne data More...

#include "read_velodyne.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_pose_t.h"
#include "small_linalg.h"
#include "velodyne.h"
#include <visualization_msgs/Marker.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/filters/extract_indices.h>

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Classes
class	c_polygon_representation
Functions
int	main (int argc, char **argv)
void	signal_handler (int sig)

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Detailed Description

functions to read velodyne data

Definition in file read_velodyne.cpp.

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Function Documentation

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 --------------------------------------------------------------------

Set default values of variables, init pointers, etc

Initialize ROS coms

Marker publisher

Create Model coefficients and array of model point clouds

Create the Pointcloud2 msg object

Create the segmentation object

Create the extraction object

start iterative process

now start to segment the point cloud

Extract the planar inliers from the input cloud

Now lets publish

Fill some required stuff

Definition at line 101 of file read_velodyne.cpp.

void signal_handler

(

int

sig

)

Definition at line 71 of file read_velodyne.cpp.