create_synthetic_scene.cpp File Reference

Description: More...

#include "cob_3d_mapping_tools/point_generator.h"
#include <cob_3d_mapping_common/label_defines.h>
#include <boost/program_options.hpp>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/voxel_grid.h>
#include <math.h>

Include dependency graph for create_synthetic_scene.cpp:

Go to the source code of this file.

Typedefs
typedef visualization::PointCloudColorHandlerRGBField < PointXYZRGBA >	ColorHdlRGBA
typedef Eigen::Vector3f	Vec
Functions
void	labelTableObjectIntersection (PointCloud< PointXYZRGBA >::Ptr &pc_table, PointCloud< PointXYZRGBA >::Ptr &pc_object, const float &radius)
	labels the intersection two point clouds in a defined radius as edges
int	main (int argc, char **argv)
	Creates a synthetic scene consisting of a table with various objects on it.
void	readOptions (int argc, char *argv[])
Variables
float	corner_size
string	file
float	noise
bool	visualize

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Detailed Description

Description:

Note:

Copyright (c) 2012
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

Project name: care-o-bot

ROS stack name: cob_environment_perception_intern

ROS package name: cob_3d_mapping_tools

Author:

Author: Steffen Fuchs, email:georg.arbeiter@ipa.fhg.de

Supervised by: Georg Arbeiter, email:georg.arbeiter@ipa.fhg.de

Date:

Date of creation: 11/2011

ToDo:

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  
• Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
  

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file create_synthetic_scene.cpp.

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Typedef Documentation

typedef visualization::PointCloudColorHandlerRGBField<PointXYZRGBA> ColorHdlRGBA

Definition at line 80 of file create_synthetic_scene.cpp.

typedef Eigen::Vector3f Vec

Definition at line 81 of file create_synthetic_scene.cpp.

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Function Documentation

void labelTableObjectIntersection	(	PointCloud< PointXYZRGBA >::Ptr &	pc_table,
		PointCloud< PointXYZRGBA >::Ptr &	pc_object,
		const float &	radius
	)

labels the intersection two point clouds in a defined radius as edges

Parameters:

pc_table	the first point cloud
pc_object	the second point cloud
radius	the radius defining what is to be labeled as edge

Definition at line 125 of file create_synthetic_scene.cpp.

int main	(	int	argc,
		char **	argv
	)

Creates a synthetic scene consisting of a table with various objects on it.

Definition at line 151 of file create_synthetic_scene.cpp.

void readOptions	(	int	argc,
		char *	argv[]
	)

Definition at line 88 of file create_synthetic_scene.cpp.

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Variable Documentation

float corner_size

Definition at line 86 of file create_synthetic_scene.cpp.

string file

Definition at line 83 of file create_synthetic_scene.cpp.

float noise

Definition at line 85 of file create_synthetic_scene.cpp.

bool visualize

Definition at line 84 of file create_synthetic_scene.cpp.