points_on_road.cc File Reference

#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>
#include <art_msgs/ArtLanes.h>
#include <art_map/PolyOps.h>
#include <tf/transform_listener.h>
#include <string>

Include dependency graph for points_on_road.cc:

Go to the source code of this file.

Defines
#define	NODE   "maplanes_grid"
Functions
bool	isPointInMap (float x, float y)
int	main (int argc, char *argv[])
void	processMap (const art_msgs::ArtLanes &msg)
void	processObstacles (const sensor_msgs::PointCloud &msg)
	callback for incoming point cloud
Variables
tf::TransformListener *	listener
art_msgs::ArtLanes	map
static ros::Publisher	output
sensor_msgs::PointCloud	pc
PolyOps *	pops
static int	qDepth = 1

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Detailed Description

This node takes in a point cloud an republishes only the points that lie inside road polygons

This probably not the neatest or fastest way of doing this, but it's an example.

Author:

Michael Quinlan

Definition in file points_on_road.cc.

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Define Documentation

#define NODE   "maplanes_grid"

Definition at line 29 of file points_on_road.cc.

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Function Documentation

bool isPointInMap	(	float	x,
		float	y
	)

Definition at line 39 of file points_on_road.cc.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 101 of file points_on_road.cc.

void processMap

(

const art_msgs::ArtLanes &

msg

)

Definition at line 96 of file points_on_road.cc.

void processObstacles

(

const sensor_msgs::PointCloud &

msg

)

callback for incoming point cloud

Transforms cloud to /map frame of reference CHecks if each point is in a polygon, if so adds it to output point cloud

Definition at line 58 of file points_on_road.cc.

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Variable Documentation

tf::TransformListener* listener

Definition at line 35 of file points_on_road.cc.

art_msgs::ArtLanes map

Definition at line 36 of file points_on_road.cc.

ros::Publisher output [static]

Definition at line 32 of file points_on_road.cc.

sensor_msgs::PointCloud pc

Definition at line 33 of file points_on_road.cc.

PolyOps* pops

Definition at line 37 of file points_on_road.cc.

int qDepth = 1 [static]

Definition at line 31 of file points_on_road.cc.