Mht implementation main header. More...

#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <mtt/graph_wrapper.h>
#include <mtt/mht_declaration.h>
#include <mtt/k_best.h>
#include <mtt/cluster.h>
#include <laser_geometry/laser_geometry.h>
#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 <Eigen/Dense>
#include <Eigen/Cholesky>
#include <iostream>
#include <istream>
#include <fstream>
#include <string>
#include <complex>
#include <boost/thread/thread.hpp>

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Classes
class	Markers
	Dynamic markers support class. More...

Functions
vector < visualization_msgs::Marker >	createClustersMarkers (vector< MeasurementPtr > &clusters)
	Create markers from clusters. More...

void	createObjects (vector< PointPtr > &data, vector< MeasurementPtr > &clusters, double clustering_distance)
	Clustering function. More...

vector < visualization_msgs::Marker >	createTargetMarkers (vector< TargetPtr > &targets)
	Create markers from targets. More...

void	dataHandler (const sensor_msgs::PointCloud2 &msg)
	Handler for the incoming data. More...

double	euclideanDistance (Point &p1, Point &p2)
	Calculate Euclidean distance between Point class types. More...

void *	graphicalThread (void *data)
	Graphical thread. More...

void	gvconfig_plugin_install_from_library (GVC_t , char , gvplugin_library_t *)
	External function used to install a gv plugin from a library. More...

std_msgs::ColorRGBA	makeColor (int id)
	Create a std_msgs color from a hsv color map. More...

std_msgs::ColorRGBA	makeColor (double r, double g, double b, double a)
	Create a std_msgs color from rgba values. More...

geometry_msgs::Point	makePose (double x, double y, double z)
	Create a geometry_msgs::Point from values. More...

void	pointCloud2ToVector (const sensor_msgs::PointCloud2 &cloud, vector< PointPtr > &data)
	Convert the point cloud data into a laser scan type structure. More...

Variables
gvplugin_library_t	gvplugin_xgtk_LTX_library
	Xgtk external graphviz library/plugin (only plugin, there's no need to create a library since it can be linked internally). More...

Detailed Description

Mht implementation main header.

Definition in file mht.h.

Function Documentation

vector<visualization_msgs::Marker> createClustersMarkers ( vector< MeasurementPtr > & clusters )

Create markers from clusters.

This function creates a set of markers for the current point clusters, this uses the Markers class to keep a up to date list of the current markers.

Parameters

clusters vector of Measurement 's classes

Returns: markers to be published

Definition at line 729 of file mht.cpp.

void createObjects	(	vector< PointPtr > &	data,
		vector< MeasurementPtr > &	clusters,
		double	clustering_distance
	)

Clustering function.

This functions separates the incoming data vector into a set of clusters based on a clustering_distance.

Parameters

data	input point vector (it is in fact a std::vector<Mht::PointPtr> reference since its safer to work with shared_ptr's.
clusters	output vector of clusters, these clusters are treated has measurements and use the Measurement class.
clustering_distance	distance value used to break clusters.

Definition at line 175 of file mht.cpp.

vector<visualization_msgs::Marker> createTargetMarkers ( vector< TargetPtr > & targets )

Create markers from targets.

This function creates a set of markers for the current targets, this uses the Markers class to keep a up to date list of the current markers.

Parameters

targets vector of Target 's

Returns: markers to be published

Definition at line 509 of file mht.cpp.

void dataHandler ( const sensor_msgs::PointCloud2 & msg )

Handler for the incoming data.

Parameters

msg	incoming point cloud

Definition at line 213 of file mht.cpp.

double euclideanDistance	(	Point &	p1,
		Point &	p2
	)

Calculate Euclidean distance between Point class types.

Only the x and y coordinates are used.

Parameters

p1	first point
p2	second point

Returns: euclidean distance between the two points

void* graphicalThread ( void * data )

Graphical thread.

This function is the main workhorse for the graphical interface. The graphical interface works in a separate thread that runs this function.

Parameters

data	generic pointer, is not used

Returns: data generic pointer, is not used

Definition at line 810 of file mht.cpp.

void gvconfig_plugin_install_from_library	(	GVC_t *	,
		char *	,
		gvplugin_library_t *
	)

External function used to install a gv plugin from a library.

std_msgs::ColorRGBA makeColor ( int id )

Create a std_msgs color from a hsv color map.

Parameters

id	color code

Returns: a std_msgs::ColorRGBA color

Definition at line 723 of file mht.cpp.

std_msgs::ColorRGBA makeColor	(	double	r,
		double	g,
		double	b,
		double	a
	)

Create a std_msgs color from rgba values.

Parameters

r	red value
g	green value
b	blue value
a	alpha value

Returns: a std_msgs::ColorRGBA color

Definition at line 711 of file mht.cpp.

geometry_msgs::Point makePose	(	double	x,
		double	y,
		double	z
	)

Create a geometry_msgs::Point from values.

Parameters

x	x component
y	y component
z	z component

Returns: a geometry_msgs::Point

void pointCloud2ToVector	(	const sensor_msgs::PointCloud2 &	cloud,
		vector< PointPtr > &	data
	)

Convert the point cloud data into a laser scan type structure.

Convert from ros format to a local format.

Parameters

cloud	ros format used in point clouds, input message.
data	outgoing vector of Point class points.

Definition at line 83 of file mht.cpp.

Variable Documentation

gvplugin_library_t gvplugin_xgtk_LTX_library

Xgtk external graphviz library/plugin (only plugin, there's no need to create a library since it can be linked internally).

Definition at line 256 of file gvplugin_xgtk.cpp.

Classes

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation