/home/laradmin/lar/perception/planarobstacles/mtt/src/simple_planar_pc_generator.cpp File Reference

Simple planar scan generator. More...

#include <stdio.h>
#include <ros/ros.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <pcl/ros/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 dependency graph for simple_planar_pc_generator.cpp:

Go to the source code of this file.

Functions
void	filter_cloud (pcl::PointCloud< pcl::PointXYZ > *pc_in, std::string pc_frame_id)
int	main (int argc, char **argv)
void	scan_0_cb (const sensor_msgs::LaserScan::ConstPtr &scan_in)
void	scan_1_cb (const sensor_msgs::LaserScan::ConstPtr &scan_in)
Variables
pcl::PointCloud< pcl::PointXYZ >	convex_hull
bool	laserscan_0_arrived = false
bool	laserscan_1_arrived = false
double	output_freq
tf::TransformListener *	p_listener
ros::NodeHandle *	p_n
pcl::PointCloud< pcl::PointXYZ >	pc_accumulated
double	perpendicular_treshold = 0.2

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Detailed Description

Simple planar scan generator.

Author:

Miguel Oliveira, Jorge Almeida

Version:

v0

Date:

2012-02-29

Definition in file simple_planar_pc_generator.cpp.

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Function Documentation

void filter_cloud	(	pcl::PointCloud< pcl::PointXYZ > *	pc_in,
		std::string	pc_frame_id
	)

Definition at line 59 of file simple_planar_pc_generator.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 165 of file simple_planar_pc_generator.cpp.

void scan_0_cb

(

const sensor_msgs::LaserScan::ConstPtr &

scan_in

)

Definition at line 133 of file simple_planar_pc_generator.cpp.

void scan_1_cb

(

const sensor_msgs::LaserScan::ConstPtr &

scan_in

)

Definition at line 149 of file simple_planar_pc_generator.cpp.

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Variable Documentation

pcl::PointCloud<pcl::PointXYZ> convex_hull

Definition at line 52 of file simple_planar_pc_generator.cpp.

bool laserscan_0_arrived = false

Definition at line 56 of file simple_planar_pc_generator.cpp.

bool laserscan_1_arrived = false

Definition at line 57 of file simple_planar_pc_generator.cpp.

double output_freq

Definition at line 54 of file simple_planar_pc_generator.cpp.

tf::TransformListener* p_listener

Definition at line 50 of file simple_planar_pc_generator.cpp.

ros::NodeHandle* p_n

Definition at line 49 of file simple_planar_pc_generator.cpp.

pcl::PointCloud<pcl::PointXYZ> pc_accumulated

Definition at line 51 of file simple_planar_pc_generator.cpp.

double perpendicular_treshold = 0.2

Definition at line 53 of file simple_planar_pc_generator.cpp.