parking_detection.cpp File Reference

#include <stdio.h>
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/filters/voxel_grid.h>
#include <points_from_volume/points_from_volume.h>
#include <trajectory_planner/coordinates.h>

Include dependency graph for parking_detection.cpp:

Go to the source code of this file.

Macros
#define	PFLN   printf("FILE %s LINE %d\n",__FILE__, __LINE__);
	Location of a parking spot. More...

Functions
void	cloud_cb (const sensor_msgs::PointCloud2ConstPtr &pcmsg_in)
	Publishes filtered pcl & extruded pcl. More...
int	main (int argc, char **argv)
	Main function of the parking detection node. More...

Variables
ros::Publisher	car_pub
ros::Publisher	cloud_pub
ros::Publisher	cloud_pub2
ros::Publisher	cloud_pub3
ros::Publisher	cloud_pub4
ros::Publisher	cloud_pub5
pcl::PointCloud< pcl::PointXYZ >	convex_hull1
pcl::PointCloud< pcl::PointXYZ >	convex_hull2
pcl::PointCloud< pcl::PointXYZ >	convex_hull3
trajectory_planner::coordinates	message
tf::TransformListener *	p_listener
ros::NodeHandle *	p_n
points_from_volume< pcl::PointXYZ >	pfv
points_from_volume< pcl::PointXYZ >	pfv2
points_from_volume< pcl::PointXYZ >	pfv3
points_from_volume< pcl::PointXYZ >	pfv4
ros::Publisher	Publisher
double	spot_distance =0.125
double	spot_high =0.6
double	spot_length =1.5
double	spot_wide =0.45
double	SpotDetected =0
ros::Publisher	vis_pub
ros::Publisher	vis_pub2
ros::Publisher	vis_pub3
ros::Publisher	vis_pub4

Macro Definition Documentation

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

Location of a parking spot.

From the point cloud received, a parking spot with certain spec is searched. After that, a marker change his colour.

Author

Joel

Date

5-May-2012

Definition at line 52 of file parking_detection.cpp.

Function Documentation

void cloud_cb

(

const sensor_msgs::PointCloud2ConstPtr &

pcmsg_in

)

Publishes filtered pcl & extruded pcl.

Parameters

PointCloud

message received

Returns

void

Definition at line 77 of file parking_detection.cpp.

int main	(	int	argc,
		char **	argv
	)

Main function of the parking detection node.

Parameters

int	argc
char	**argv

Returns

int

Definition at line 386 of file parking_detection.cpp.

Variable Documentation

ros::Publisher car_pub

Definition at line 62 of file parking_detection.cpp.

ros::Publisher cloud_pub

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub2

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub3

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub4

Definition at line 59 of file parking_detection.cpp.

ros::Publisher cloud_pub5

Definition at line 59 of file parking_detection.cpp.

pcl::PointCloud<pcl::PointXYZ> convex_hull1

Definition at line 61 of file parking_detection.cpp.

pcl::PointCloud<pcl::PointXYZ> convex_hull2

Definition at line 61 of file parking_detection.cpp.

pcl::PointCloud<pcl::PointXYZ> convex_hull3

Definition at line 61 of file parking_detection.cpp.

trajectory_planner::coordinates message

Definition at line 64 of file parking_detection.cpp.

tf::TransformListener* p_listener

Definition at line 60 of file parking_detection.cpp.

ros::NodeHandle* p_n

Definition at line 58 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv

Definition at line 63 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv2

Definition at line 63 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv3

Definition at line 63 of file parking_detection.cpp.

points_from_volume<pcl::PointXYZ> pfv4

Definition at line 63 of file parking_detection.cpp.

ros::Publisher Publisher

Definition at line 59 of file parking_detection.cpp.

double spot_distance =0.125

Definition at line 69 of file parking_detection.cpp.

double spot_high =0.6

Definition at line 68 of file parking_detection.cpp.

double spot_length =1.5

Definition at line 66 of file parking_detection.cpp.

double spot_wide =0.45

Definition at line 67 of file parking_detection.cpp.

double SpotDetected =0

Definition at line 70 of file parking_detection.cpp.

ros::Publisher vis_pub

Definition at line 62 of file parking_detection.cpp.

ros::Publisher vis_pub2

Definition at line 62 of file parking_detection.cpp.

ros::Publisher vis_pub3

Definition at line 62 of file parking_detection.cpp.

ros::Publisher vis_pub4

Definition at line 62 of file parking_detection.cpp.