Defines | Functions | Variables
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::TransformListenerlistener
art_msgs::ArtLanes map
static ros::Publisher output
sensor_msgs::PointCloud pc
PolyOpspops
static int qDepth = 1

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.


Define Documentation

#define NODE   "maplanes_grid"

Definition at line 29 of file points_on_road.cc.


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.

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.


Variable Documentation

Definition at line 35 of file points_on_road.cc.

Definition at line 36 of file points_on_road.cc.

Definition at line 32 of file points_on_road.cc.

Definition at line 33 of file points_on_road.cc.

Definition at line 37 of file points_on_road.cc.

int qDepth = 1 [static]

Definition at line 31 of file points_on_road.cc.



art_observers
Author(s): Michael Quinlan, Jack O'Quin, Corbyn Salisbury
autogenerated on Fri Jan 3 2014 11:09:22