/home/laradmin/lar/perception/3D/polygon_primitives_extraction/src/extract_polygon_primitives.h File Reference

Header of the extract polygon primitives binary. More...

#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 <visualization_msgs/MarkerArray.h>
#include <wrapper_collada.h>
#include "polygon_primitive.h"

Include dependency graph for extract_polygon_primitives.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Defines
#define	_EXTERN_   extern
#define	_MAX_NUM_POLYGONS_   270
#define	PFLN   {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
	Ros includes.
Functions
int	compute_normals (pcl::PointCloud< pcl::PointXYZ > *pc_in, float vx, float vy, float vz, float radius, int K, pcl::PointCloud< pcl::Normal > *pc_out)
	Estimate normals for pc_in using either radius or K.
void	create_publish_marker_array (std::vector< c_polygon_primitive > *plg, visualization_msgs::MarkerArray *marker_array_msg)
visualization_msgs::Marker	create_visualization_marker_header (std::string frame_id, ros::Time stamp, std::string name, int action, int id, int type, double px, double py, double pz, double qx, double qy, double qz, double qw, double sx, double sy, double sz, double cr, double cg, double cb, double alpha)
void	draw_markers (int k, Eigen::Vector4f *q_avg, std::vector< Eigen::Vector4f > *qv, pcl::PointCloud< pcl::PointNormal >::Ptr pc, std::vector< int > *pointIdxRadiusSearch, Eigen::Vector4f *q_avg0, std::vector< bool > *is_fliped)
void	filter_uncoherent_points (pcl::PointCloud< pcl::PointNormal >::Ptr pc, double radius, pcl::PointCloud< pcl::PointNormal >::Ptr pcout, pcl::PointCloud< pcl::PointNormal >::Ptr pcelim, float vx, float vy, float vz)
void	filter_uncoherent_points (pcl::PointCloud< pcl::PointXYZ >::Ptr pcin, pcl::PointCloud< pcl::PointXYZ > *pcout, pcl::PointCloud< pcl::PointXYZ > *pcelim, pcl::PointCloud< pcl::Normal >::Ptr n, double radius, float vx, float vy, float vz)
int	get_vehicle_position (ros::NodeHandle *pn, tf::TransformListener *listener, tf::StampedTransform *vehicle_tf, ros::Time *t)
	Gets the vehicle position by querying for the propper transform.
void	PointCloudHandler (const sensor_msgs::PointCloud2ConstPtr &input)
int	save_pc_PointNormal_to_pcd (pcl::PointCloud< pcl::PointXYZ > *pc_in, pcl::PointCloud< pcl::Normal > *normals_in, std::string name)
	Saves a composite point cloud with normals to a file. After saving you can use "rosrun pcl pcd_viewer <filename> -normal 10 -normal_scale 1" to view the normals.
void	VehiclePoseHandler (const geometry_msgs::PoseStamped &lpose)
Variables
unsigned char	b [16]
_EXTERN_ pcl::PointCloud < pcl::PointXYZ >	cloud
unsigned char	cr [16]
_EXTERN_ int	flag_msg_received
unsigned char	g [16]
_EXTERN_ ros::Time	laser_ts
_EXTERN_ ros::NodeHandle *	pn
_EXTERN_ std::vector < boost::shared_ptr < ros::Publisher > >	publishers

---

Detailed Description

Header of the extract polygon primitives binary.

Author:

Miguel Oliveira

Version:

v0

Date:

2011-12-19

Definition in file extract_polygon_primitives.h.