line_fitting.cpp File Reference

Line fitting experimental code. More...

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <mtt/TargetListPC.h>
#include <tf/transform_listener.h>
#include <laser_geometry/laser_geometry.h>
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include <pcl_conversions/pcl_conversions.h>
#include <mtt/mtt_common.h>

Include dependency graph for line_fitting.cpp:

Go to the source code of this file.

Functions
void	calcClusterProps (vector< t_clustersPtr > &clusters, t_data &data)
void	calcObjectProps (vector< t_objectPtr > &objects)
void	cleanMarkers (void)
void	cleanObjets (vector< t_objectPtr > &objects)
bool	clustering (t_data &data, vector< t_clustersPtr > &clusters)
bool	clustersToObjects (vector< t_clustersPtr > &clusters, t_data &data, vector< t_objectPtr > &objectsPtr)
void	convertObjectsToTargetListPC (vector< t_objectPtr > &objects, mtt::TargetListPC &targets)
void	createMarkers (mtt::TargetListPC &targets)
void	free_lines (vector< t_objectPtr > &objects)
	Removes lines from memory. More...
int	main (int argc, char **argv)
void	maintenanceMarkers (vector< visualization_msgs::Marker > &markers)
void	markersFromData (t_data &data)
double	point2line_distance (double alpha, double ro, double x, double y)
	Calculates the line to point distance. More...
double	point2point_distance (double xi, double yi, double xf, double yf)
	Calculates the distante between two points. More...
void	pointCloud2ToData (const sensor_msgs::PointCloud2 &cloud, t_data &data)
void	pointsHandler (const sensor_msgs::PointCloud2 &points)
void	recursive_IEPF (t_objectPtr &object, t_data &data, int start, int end)
void	recursive_line_fitting (t_objectPtr &object, t_cluster &cluster, t_data &data)

Variables
double	angular_resolution =3*M_PI/180.
double	clustering_threshold =0.3
string	frame_id
int	marker_id =0
map< pair< string, int >, pair < visualization_msgs::Marker, int > >	marker_map
ros::Publisher	markers_publisher
double	max_mean_variance =0.03
ros::Time	message_stamp
ros::Publisher	target_publisher

Detailed Description

Line fitting experimental code.

Definition in file line_fitting.cpp.

Function Documentation

void calcClusterProps	(	vector< t_clustersPtr > &	clusters,
		t_data &	data
	)

Definition at line 196 of file line_fitting.cpp.

void calcObjectProps

(

vector< t_objectPtr > &

objects

)

Definition at line 80 of file line_fitting.cpp.

void cleanMarkers

(

void

)

Definition at line 421 of file line_fitting.cpp.

void cleanObjets

(

vector< t_objectPtr > &

objects

)

Definition at line 75 of file line_fitting.cpp.

bool clustering	(	t_data &	data,
		vector< t_clustersPtr > &	clusters
	)

Definition at line 220 of file line_fitting.cpp.

bool clustersToObjects	(	vector< t_clustersPtr > &	clusters,
		t_data &	data,
		vector< t_objectPtr > &	objectsPtr
	)

Definition at line 173 of file line_fitting.cpp.

void convertObjectsToTargetListPC	(	vector< t_objectPtr > &	objects,
		mtt::TargetListPC &	targets
	)

Definition at line 349 of file line_fitting.cpp.

void createMarkers

(

mtt::TargetListPC &

targets

)

Definition at line 453 of file line_fitting.cpp.

void free_lines

(

vector< t_objectPtr > &

objects

)

Removes lines from memory.

Parameters

objects

list of objects

Returns

void

Definition at line 69 of file line_fitting.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 619 of file line_fitting.cpp.

void maintenanceMarkers

(

vector< visualization_msgs::Marker > &

markers

)

Todo:

This should be erased but it is not working now marker_map.erase(it);

Definition at line 432 of file line_fitting.cpp.

void markersFromData

(

t_data &

data

)

Definition at line 531 of file line_fitting.cpp.

double point2line_distance	(	double	alpha,
		double	ro,
		double	x,
		double	y
	)

Calculates the line to point distance.

Parameters

alpha	polar coordinates of the line
ro	polar coordinates of the line
x	cartesian coordinates of the point
y

Returns

algebric distance

Definition at line 66 of file line_fitting.cpp.

double point2point_distance	(	double	xi,
		double	yi,
		double	xf,
		double	yf
	)

Calculates the distante between two points.

Parameters

xi
yi
xf
yf

Returns

distance

Definition at line 63 of file line_fitting.cpp.

void pointCloud2ToData	(	const sensor_msgs::PointCloud2 &	cloud,
		t_data &	data
	)

Definition at line 284 of file line_fitting.cpp.

void pointsHandler

(

const sensor_msgs::PointCloud2 &

points

)

Definition at line 567 of file line_fitting.cpp.

void recursive_IEPF	(	t_objectPtr &	object,
		t_data &	data,
		int	start,
		int	end
	)

This functions malloc a line to work with, each time it mallocs a line it increments the number of lines object data

Definition at line 120 of file line_fitting.cpp.

void recursive_line_fitting	(	t_objectPtr &	object,
		t_cluster &	cluster,
		t_data &	data
	)

Definition at line 165 of file line_fitting.cpp.

Variable Documentation

double angular_resolution =3*M_PI/180.

Definition at line 61 of file line_fitting.cpp.

double clustering_threshold =0.3

Definition at line 60 of file line_fitting.cpp.

string frame_id

Definition at line 55 of file line_fitting.cpp.

int marker_id =0

Definition at line 58 of file line_fitting.cpp.

map<pair<string,int>, pair<visualization_msgs::Marker,int> > marker_map

Definition at line 57 of file line_fitting.cpp.

ros::Publisher markers_publisher

Definition at line 54 of file line_fitting.cpp.

double max_mean_variance =0.03

Definition at line 59 of file line_fitting.cpp.

ros::Time message_stamp

Definition at line 56 of file line_fitting.cpp.

ros::Publisher target_publisher

Definition at line 53 of file line_fitting.cpp.