texturize_polygon_primitives.h

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#ifndef _texturize_polygon_primitives_H_
#define _texturize_polygon_primitives_H_


//INCLUDES

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.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_with_texture.h"


//DEFINES
#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define _MAX_NUM_POLYGONS_ 99
//TYPE DEFINITIONS
typedef struct
{
        cv::Mat image;
        cv_bridge::CvImagePtr cv_ptr;
        ros::Time image_ts;
        bool msg_received;
        tf::StampedTransform tf;
                
}t_cam;

//FUNCTIONS PROTOTYPES


//GLOBAL VARIABLES
#ifdef _texturize_polygon_primitives_CPP_

#define _EXTERN_ 

#else

#define _EXTERN_ extern

#endif

_EXTERN_ std::map<std::string, c_polygon_primitive_with_texture> pmap; 
_EXTERN_ t_cam cam_roof_fc;
_EXTERN_ t_cam cam_roof_fl;
_EXTERN_ t_cam cam_roof_fr;
_EXTERN_ t_cam cam_roof_rc;
_EXTERN_ t_cam cam_roof_fc_6mm;
_EXTERN_ tf::TransformListener* p_listener;
_EXTERN_ ros::NodeHandle* p_node;
_EXTERN_ ros::Publisher* p_markerarray_pub;
_EXTERN_ ros::Time mission_start;

#endif