Extract_polygon_primitives

Files
file	extract_polygon_primitives.cpp
	The main file of the extract polygon primitives binary.
file	extract_polygon_primitives.h
	Header of the extract polygon primitives binary.
file	extract_polygon_primitives_handlers.cpp
	The ros message handlers are defined here.
file	extract_polygon_primitives_rvizmarkers.cpp
	Implements functions to produce rviz markers.
Defines
#define	_EXTERN_ extern
#define	_GROUND_PLG_LONG_EXPANSION_ 15
#define	_GROUND_PLG_PERP_EXPANSION_ 0.3
#define	_MAX_ITERATION_TIME_ 20.0
#define	_MAX_NUM_POLYGONS_ 270
#define	_VERTICAL_PLG_LONG_EXPANSION_ 0.2
#define	_VERTICAL_PLG_PERP_EXPANSION_ 0.5
#define	DEBUG 0
#define	PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
	Ros includes.
#define	USE_EXPANSION 1
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.
int	main (int argc, char **argv)
	The main function for the extraction of polygon primitives.
void	PointCloudHandler (const sensor_msgs::PointCloud2ConstPtr &input)
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)
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

void	get_limits (double mean, double std, double factor, double high, double low)

Define Documentation

#define _EXTERN_ extern

Definition at line 118 of file extract_polygon_primitives.h.

#define _GROUND_PLG_LONG_EXPANSION_ 15

Definition at line 51 of file extract_polygon_primitives.cpp.

#define _GROUND_PLG_PERP_EXPANSION_ 0.3

Definition at line 52 of file extract_polygon_primitives.cpp.

#define _MAX_ITERATION_TIME_ 20.0

Definition at line 54 of file extract_polygon_primitives.cpp.

#define _MAX_NUM_POLYGONS_ 270

Definition at line 71 of file extract_polygon_primitives.h.

#define _VERTICAL_PLG_LONG_EXPANSION_ 0.2

Definition at line 49 of file extract_polygon_primitives.cpp.

#define _VERTICAL_PLG_PERP_EXPANSION_ 0.5

Definition at line 50 of file extract_polygon_primitives.cpp.

#define DEBUG 0

Definition at line 55 of file extract_polygon_primitives.cpp.

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

Ros includes.

PLC includes Rviz includes Other modules include Local includes

Definition at line 70 of file extract_polygon_primitives.h.

#define USE_EXPANSION 1

Definition at line 56 of file extract_polygon_primitives.cpp.

Function Documentation

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.

Parameters:

	pc_in	the point cloud to estimate the normals from
	vx	the viewpoint x coordinate
	vyvthe	viewpoint y coordinate
	vz	the viewpoint z coordinate
	radius	radius of the neighborhood to estimate the normals for each point
	K	number of neighbors to define the neighborhood to estimate the normals for each point
	pc_out	the normals out. Same size as pc_in

Returns:: 1 if sucess or 0 if failure

Definition at line 103 of file extract_polygon_primitives_auxiliary.cpp.

void create_publish_marker_array	(	std::vector< c_polygon_primitive > *	plg,
		visualization_msgs::MarkerArray *	marker_array_msg
	)

Definition at line 63 of file extract_polygon_primitives_rvizmarkers.cpp.

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
	)

Definition at line 44 of file extract_polygon_primitives_rvizmarkers.cpp.

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
	)

Definition at line 469 of file extract_polygon_primitives_auxiliary.cpp.

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
	)

Definition at line 298 of file extract_polygon_primitives_auxiliary.cpp.

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
	)

Definition at line 137 of file extract_polygon_primitives_auxiliary.cpp.

void get_limits	(	double	mean,
		double	std,
		double	factor,
		double *	high,
		double *	low
	)

Definition at line 178 of file extract_polygon_primitives_auxiliary.cpp.

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.

Parameters:

	listener	listerner class to liikup transform
	vehicle_tf	the output transform
	t	time

Returns:

Definition at line 49 of file extract_polygon_primitives_auxiliary.cpp.

int main	(	int	argc,
		char **	argv
	)

The main function for the extraction of polygon primitives.

Parameters:

	argc	the standard argc
	argv	the standard argv

Returns:: standard return for main

Definition at line 118 of file extract_polygon_primitives.cpp.

void PointCloudHandler ( const sensor_msgs::PointCloud2ConstPtr & input )

Definition at line 41 of file extract_polygon_primitives_handlers.cpp.

bool polygon_has_quality	(	double	area,
		double	solidity
	)

Definition at line 58 of file extract_polygon_primitives.cpp.

int publish_point_cloud	(	std::vector< boost::shared_ptr< ros::Publisher > > *	publishers,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	pc,
		std::string	topic_name
	)

Definition at line 105 of file extract_polygon_primitives.cpp.

int publish_point_cloud	(	std::vector< boost::shared_ptr< ros::Publisher > > *	publishers,
		pcl::PointCloud< pcl::PointXYZ > *	pc,
		std::string	topic_name
	)

Definition at line 84 of file extract_polygon_primitives.cpp.

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.

Parameters: