/home/laradmin/lar/perception/planarobstacles/mtt/src/planar_pc_generator.cpp File Reference

Planar scan generator from laser messages. More...

#include <stdio.h>
#include <ros/ros.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/project_inliers.h>

Include dependency graph for planar_pc_generator.cpp:

Go to the source code of this file.

Defines
#define	_USE_DEBUG_   0
#define	PFLN   printf("file %s line %d\n",__FILE__,__LINE__);
Functions
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &pcmsg_in)
void	filter_cloud (pcl::PointCloud< pcl::PointXYZ > *pc_in, std::string pc_frame_id)
int	main (int argc, char **argv)
void	scan_cb (const sensor_msgs::LaserScan::ConstPtr &scan_in)
Variables
pcl::PointCloud< pcl::PointXYZ >	convex_hull
double	output_freq
tf::TransformListener *	p_listener
ros::NodeHandle *	p_n
pcl::PointCloud< pcl::PointXYZ >	pc_accumulated
double	perpendicular_treshold = 0.2
bool	process_laser_scan [5] = {false,false,false,false,false}
bool	process_point_cloud [5] = {false,false,false,false,false}

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Detailed Description

Planar scan generator from laser messages.

Author:

Miguel Oliveira

Version:

v0

Date:

2012-02-29

Definition in file planar_pc_generator.cpp.

---

Define Documentation

#define _USE_DEBUG_   0

Definition at line 52 of file planar_pc_generator.cpp.

#define PFLN   printf("file %s line %d\n",__FILE__,__LINE__);

Definition at line 50 of file planar_pc_generator.cpp.

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Function Documentation

void cloud_cb

(

const sensor_msgs::PointCloud2ConstPtr &

pcmsg_in

)

Definition at line 137 of file planar_pc_generator.cpp.

void filter_cloud	(	pcl::PointCloud< pcl::PointXYZ > *	pc_in,
		std::string	pc_frame_id
	)

Definition at line 63 of file planar_pc_generator.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 169 of file planar_pc_generator.cpp.

void scan_cb

(

const sensor_msgs::LaserScan::ConstPtr &

scan_in

)

Definition at line 148 of file planar_pc_generator.cpp.

---

Variable Documentation

pcl::PointCloud<pcl::PointXYZ> convex_hull

Definition at line 59 of file planar_pc_generator.cpp.

double output_freq

Definition at line 61 of file planar_pc_generator.cpp.

tf::TransformListener* p_listener

Definition at line 55 of file planar_pc_generator.cpp.

ros::NodeHandle* p_n

Definition at line 54 of file planar_pc_generator.cpp.

pcl::PointCloud<pcl::PointXYZ> pc_accumulated

Definition at line 58 of file planar_pc_generator.cpp.

double perpendicular_treshold = 0.2

Definition at line 60 of file planar_pc_generator.cpp.

bool process_laser_scan[5] = {false,false,false,false,false}

Definition at line 56 of file planar_pc_generator.cpp.

bool process_point_cloud[5] = {false,false,false,false,false}

Definition at line 57 of file planar_pc_generator.cpp.