The main file of the extract polygon primitives binary. More...
#include <vector>#include <fstream>#include <stdio.h>#include "extract_polygon_primitives.h"#include <ros/ros.h>#include <sensor_msgs/PointCloud2.h>#include <tf/transform_listener.h>#include <pcl/ros/conversions.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl/segmentation/sac_segmentation.h>#include <visualization_msgs/Marker.h>#include <string>#include <map>#include <ostream>#include "ros/serialization.h"#include "ros/builtin_message_traits.h"#include "ros/message_operations.h"#include "ros/time.h"#include "ros/macros.h"#include "ros/assert.h"#include <boost/config.hpp>#include <boost/detail/workaround.hpp>#include <boost/config/auto_link.hpp>#include <stdexcept>#include <cassert>#include <boost/cstdint.hpp>#include <boost/assert.hpp>#include <boost/operators.hpp>#include <boost/noncopyable.hpp>#include <boost/utility/enable_if.hpp>#include <functional>#include <cerrno>#include <boost/config/abi_prefix.hpp>#include <boost/config/abi_suffix.hpp>#include <boost/iterator/iterator_facade.hpp>#include <boost/throw_exception.hpp>#include <boost/shared_ptr.hpp>#include <boost/type_traits/is_same.hpp>#include <boost/static_assert.hpp>#include <algorithm>#include <iosfwd>#include <locale>#include <boost/iterator.hpp>#include <utility>#include <ctime>#include <boost/system/error_code.hpp>#include <stack>#include <limits.h>#include <sys/types.h>#include <stdlib.h>#include <assert.h>#include <wchar.h>#include <string.h>#include <dae/daePlatform.h>#include <new>#include <dae/daeTypes.h>#include <dae/daeArray.h>#include <dae/daeError.h>#include <memory>#include <dae.h>#include <dae/daeMemorySystem.h>#include <dae/daeRefCountedObj.h>#include <dae/daeSmartRef.h>#include <dae/daeElement.h>#include <sstream>#include <list>#include <dae/daeURI.h>#include <dae/daeStringRef.h>#include <stdint.h>#include <dae/daeArrayTypes.h>#include <dae/daeAtomicType.h>#include <dae/daeUtils.h>#include <dae/daeMetaElement.h>#include <dae/daeIDRef.h>#include <dae/daeDocument.h>#include <dae/daeDomTypes.h>#include <dom/domTypes.h>#include <dom/domElements.h>#include <dom/domAsset.h>#include <dom/domTechnique.h>#include <dom/domAnimation.h>#include <dom/domExtra.h>#include <dom/domSource.h>#include <dom/domInput_local.h>#include <dom/domInput_local_offset.h>#include <dom/domP.h>#include <dom/domVertices.h>#include <dom/domLines.h>#include <dom/domLinestrips.h>#include <dom/domPolygons.h>#include <dom/domPolylist.h>#include <dom/domTriangles.h>#include <dom/domTrifans.h>#include <dom/domTristrips.h>#include <dom/domCurve.h>#include <dom/domOrient.h>#include <dom/domOrigin.h>#include <dom/domInstance_with_extra.h>#include <dom/domFx_sampler.h>#include <dom/domFx_common_color_or_texture.h>#include <dom/domFx_sampler2D.h>#include <dom/domGles2_value.h>#include <dom/domFx_annotate.h>#include <dom/domFx_target.h>#include <dom/domInstance_image.h>#include <dom/domFx_rendertarget.h>#include <dom/domFx_code.h>#include <dom/domFx_include.h>#include <dom/domFx_sampler3D.h>#include <dom/domFx_samplerCUBE.h>#include <dom/domFx_samplerDEPTH.h>#include <dom/domGlsl_value.h>#include <dom/domFx_sampler1D.h>#include <dom/domFx_samplerRECT.h>#include <dom/domFx_sources.h>#include <dom/domFx_colortarget.h>#include <dom/domFx_depthtarget.h>#include <dom/domFx_stenciltarget.h>#include <dom/domFx_clearcolor.h>#include <dom/domFx_cleardepth.h>#include <dom/domFx_clearstencil.h>#include <dom/domCg_param.h>#include <dom/domGl_pipeline_settings.h>#include <dom/domGles_texture_constant.h>#include <dom/domTargetable_float.h>#include <dom/domFx_sampler_states.h>#include <dom/domTargetable_float4.h>#include <dom/domTargetable_float3.h>#include <dom/domParam.h>#include <dom/domBind_material.h>#include <dom/domNode.h>#include <dom/domTranslate.h>#include <dom/domRotate.h>#include <dom/domPhysics_material.h>#include <dom/domInstance_geometry.h>#include <dom/domPlane.h>#include <dom/domSphere.h>#include <dom/domInstance_physics_material.h>#include <dom/domBox.h>#include <dom/domCylinder.h>#include <dom/domCapsule.h>#include <dom/domInstance_force_field.h>#include <dom/domInstance_physics_model.h>#include <dom/domJoint.h>#include <dom/domLink.h>#include <dom/domInstance_formula.h>#include <dom/domKinematics_newparam.h>#include <dom/domKinematics_connect_param.h>#include <dom/domCommon_param.h>#include <dom/domCommon_float_or_param.h>#include <dom/domFormula.h>#include <dom/domKinematics_bind.h>#include <dom/domKinematics_setparam.h>#include <dom/domInstance_kinematics_model.h>#include <dom/domInstance_articulated_system.h>#include <dom/domCommon_sidref_or_param.h>#include <dom/domProfile_common.h>#include <dae/daeSIDResolver.h>#include <dom/domInstance_controller.h>#include <dom/domImage.h>#include <dae/daeErrorHandler.h>#include <pcl_ros/point_cloud.h>#include <sensor_msgs/PointCloud.h>#include <visualization_msgs/MarkerArray.h>#include "tf/tf.h"#include "tf/tfMessage.h"#include "pcl_ros/transforms.h"#include <pcl/io/pcd_io.h>#include <pcl/sample_consensus/method_types.h>#include <pcl/sample_consensus/model_types.h>#include <pcl/features/normal_3d.h>#include <pcl/ModelCoefficients.h>#include <pcl/filters/extract_indices.h>#include <pcl/filters/project_inliers.h>#include <pcl/surface/convex_hull.h>#include <pcl/pcl_config.h>#include <pcl/filters/voxel_grid.h>#include <pcl/kdtree/kdtree.h>#include <pcl-1.6/pcl/segmentation/extract_clusters.h>#include <pcl/segmentation/extract_polygonal_prism_data.h>#include <opencv2/core/core.hpp>#include <polygon_primitive_msg/polygon_primitive.h>
Go to the source code of this file.
Defines | |
| #define | _GROUND_PLG_LONG_EXPANSION_ 15 |
| #define | _GROUND_PLG_PERP_EXPANSION_ 0.3 |
| #define | _MAX_ITERATION_TIME_ 20.0 |
| #define | _VERTICAL_PLG_LONG_EXPANSION_ 0.2 |
| #define | _VERTICAL_PLG_PERP_EXPANSION_ 0.5 |
| #define | DEBUG 0 |
| #define | USE_EXPANSION 1 |
Functions | |
| int | main (int argc, char **argv) |
| The main function for the extraction of polygon primitives. | |
| bool | polygon_has_quality (double area, double solidity) |
| int | publish_point_cloud (std::vector< boost::shared_ptr< ros::Publisher > > *publishers, pcl::PointCloud< pcl::PointXYZ >::Ptr pc, std::string topic_name) |
| int | publish_point_cloud (std::vector< boost::shared_ptr< ros::Publisher > > *publishers, pcl::PointCloud< pcl::PointXYZ > *pc, std::string topic_name) |
The main file of the extract polygon primitives binary.
Definition in file extract_polygon_primitives.cpp.