/home/laradmin/lar/perception/parking_detection/src/parking_detection.cpp File Reference

#include <stdio.h>
#include <ros/ros.h>
#include <visualization_msgs/Marker.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 <pcl/filters/voxel_grid.h>
#include <points_from_volume/points_from_volume.h>
#include <trajectory_planner/coordinates.h>

Include dependency graph for parking_detection.cpp:

Go to the source code of this file.

Defines
#define	PFLN   printf("FILE %s LINE %d\n",__FILE__, __LINE__);
	Location of a parking spot.
Functions
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &pcmsg_in)
	Publishes filtered pcl & extruded pcl.
int	main (int argc, char **argv)
	Main function of the parking detection node.
Variables
ros::Publisher	car_pub
ros::Publisher	cloud_pub
ros::Publisher	cloud_pub2
ros::Publisher	cloud_pub3
ros::Publisher	cloud_pub4
ros::Publisher	cloud_pub5
pcl::PointCloud< pcl::PointXYZ >	convex_hull1
pcl::PointCloud< pcl::PointXYZ >	convex_hull2
pcl::PointCloud< pcl::PointXYZ >	convex_hull3
trajectory_planner::coordinates	message
tf::TransformListener *	p_listener
ros::NodeHandle *	p_n
points_from_volume< pcl::PointXYZ >	pfv
points_from_volume< pcl::PointXYZ >	pfv2
points_from_volume< pcl::PointXYZ >	pfv3
points_from_volume< pcl::PointXYZ >	pfv4
ros::Publisher	Publisher
double	spot_distance = 0.125
double	spot_high = 0.6
double	spot_length = 1.5
double	spot_wide = 0.45
double	SpotDetected = 0
ros::Publisher	vis_pub
ros::Publisher	vis_pub2
ros::Publisher	vis_pub3
ros::Publisher	vis_pub4

---

Define Documentation

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

Location of a parking spot.

From the point cloud received, a parking spot with certain spec is searched. After that, a marker change his colour.

Author:

Joel

Date:

5-May-2012

Definition at line 52 of file parking_detection.cpp.

---

Function Documentation

void cloud_cb

(

const sensor_msgs::PointCloud2ConstPtr &

pcmsg_in

)

Publishes filtered pcl & extruded pcl.

Parameters:

PointCloud

message received

Returns:

void

Definition at line 77 of file parking_detection.cpp.

int main	(	int	argc,
		char **	argv
	)

Main function of the parking detection node.

Parameters:

	int	argc
	char	**argv

Returns:

int

Definition at line 386 of file parking_detection.cpp.

---

Variable Documentation

ros::Publisher car_pub

Definition at line 62 of file parking_detection.cpp.

ros::Publisher cloud_pub

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub2

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub3

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub4

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub5

Definition at line 59 of file parking_detection.cpp.

pcl::PointCloud<pcl::PointXYZ> convex_hull1

Definition at line 61 of file parking_detection.cpp.

pcl::PointCloud<pcl::PointXYZ> convex_hull2

Definition at line 61 of file parking_detection.cpp.

pcl::PointCloud<pcl::PointXYZ> convex_hull3

Definition at line 61 of file parking_detection.cpp.

trajectory_planner::coordinates message

Definition at line 64 of file parking_detection.cpp.

tf::TransformListener* p_listener

Definition at line 60 of file parking_detection.cpp.

ros::NodeHandle* p_n

Definition at line 58 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv

Definition at line 63 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv2

Definition at line 63 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv3

Definition at line 63 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv4

Definition at line 63 of file parking_detection.cpp.

ros::Publisher Publisher

Definition at line 59 of file parking_detection.cpp.

double spot_distance = 0.125

Definition at line 69 of file parking_detection.cpp.

double spot_high = 0.6

Definition at line 68 of file parking_detection.cpp.

double spot_length = 1.5

Definition at line 66 of file parking_detection.cpp.

double spot_wide = 0.45

Definition at line 67 of file parking_detection.cpp.

double SpotDetected = 0

Definition at line 70 of file parking_detection.cpp.

ros::Publisher vis_pub

Definition at line 62 of file parking_detection.cpp.

ros::Publisher vis_pub2

Definition at line 62 of file parking_detection.cpp.

ros::Publisher vis_pub3

Definition at line 62 of file parking_detection.cpp.

ros::Publisher vis_pub4

Definition at line 62 of file parking_detection.cpp.