project_pc_ellipsoid.cpp File Reference

#include <hrl_phri_2011/ellipsoid_space.h>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <Eigen/Eigen>
#include <tf_conversions/tf_eigen.h>
#include <hrl_phri_2011/EllipsoidParams.h>
#include <hrl_phri_2011/hsl_rgb_conversions.h>
#include <hrl_phri_2011/ForceProcessed.h>
#include <hrl_phri_2011/pcl_basic.h>
#include <hrl_phri_2011/utils.h>

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Defines
#define	NORMAL(x, sig)   ( std::exp( - (x) * (x) / (2.0 * (sig) * (sig))) / std::sqrt(2.0 * 3.14159 * (sig) * (sig)))
Functions
void	colorPCHSL (const PCRGB &in_pc, const vector< double > &values, PCRGB &out_pc, double hue=0)
void	createForceCloud (const vector< hrl_phri_2011::ForceProcessed::Ptr > &fps, PCRGB &fpc)
void	createPriorCloud (const PCRGB &in_pc, const vector< hrl_phri_2011::ForceProcessed::Ptr > &fps, PCRGB &out_pc)
int	main (int argc, char **argv)
void	marginalEllipsoid (const PCRGB &pc, const vector< hrl_phri_2011::ForceProcessed::Ptr > &fps, const PCRGB &fpc, PCRGB &pc_ell, double sigma=0.01)
void	projectEllipsoid (Ellipsoid &ell, double ell_height, const PCRGB &pc, PCRGB &pc_ell)
void	projectEllipsoidDense (Ellipsoid &ell, double ell_height, const PCRGB &pc, int num_lat, int num_lon, double sigma=0.01, int k=10)

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Define Documentation

#define NORMAL	(		x,
			sig
	)		( std::exp( - (x) * (x) / (2.0 * (sig) * (sig))) / std::sqrt(2.0 * 3.14159 * (sig) * (sig)))

Definition at line 16 of file project_pc_ellipsoid.cpp.

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Function Documentation

void colorPCHSL	(	const PCRGB &	in_pc,
		const vector< double > &	values,
		PCRGB &	out_pc,
		double	hue = 0
	)

Definition at line 98 of file project_pc_ellipsoid.cpp.

void createForceCloud	(	const vector< hrl_phri_2011::ForceProcessed::Ptr > &	fps,
		PCRGB &	fpc
	)

Definition at line 43 of file project_pc_ellipsoid.cpp.

void createPriorCloud	(	const PCRGB &	in_pc,
		const vector< hrl_phri_2011::ForceProcessed::Ptr > &	fps,
		PCRGB &	out_pc
	)

Definition at line 67 of file project_pc_ellipsoid.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 187 of file project_pc_ellipsoid.cpp.

void marginalEllipsoid	(	const PCRGB &	pc,
		const vector< hrl_phri_2011::ForceProcessed::Ptr > &	fps,
		const PCRGB &	fpc,
		PCRGB &	pc_ell,
		double	sigma = 0.01
	)

Definition at line 114 of file project_pc_ellipsoid.cpp.

void projectEllipsoid	(	Ellipsoid &	ell,
		double	ell_height,
		const PCRGB &	pc,
		PCRGB &	pc_ell
	)

Definition at line 27 of file project_pc_ellipsoid.cpp.

void projectEllipsoidDense	(	Ellipsoid &	ell,
		double	ell_height,
		const PCRGB &	pc,
		int	num_lat,
		int	num_lon,
		double	sigma = 0.01,
		int	k = 10
	)

Definition at line 149 of file project_pc_ellipsoid.cpp.