Description: More...

#include "cob_3d_mapping_tools/point_generator.h"
#include <cob_3d_mapping_common/label_defines.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/histogram_visualizer.h>
#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/fpfh.h>
#include <sys/time.h>
#include <sys/resource.h>
#include <boost/program_options.hpp>

Include dependency graph for fpfh_primitives_old.cpp:

Go to the source code of this file.

Classes
struct	ft_config
Typedefs
typedef visualization::PointCloudColorHandlerRGBField < PointXYZRGBA >	ColorHdlRGBA
typedef Eigen::Vector3f	Vec
Functions
void	corner_concave (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	corner_convex (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	cylinder_concave (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
void	cylinder_convex (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
void	edge_concave (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	edge_convex (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
string	fl2label (const float &f, const size_t &precision)
void	generateFeature (ft_config *cfg, PointIndices::Ptr idx, PointCloud< PointXYZRGBA >::Ptr &p_in, PointCloud< Normal >::Ptr &normal_out)
void	generateName (ft_config *cfg, string shape)
size_t	getShapeCenter (PointCloud< PointXYZRGBA >::Ptr &cloud)
int	main (int argc, char **argv)
void	plane (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	readOptions (int argc, char *argv[])
void	sphere_concave (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
void	sphere_convex (ft_config *cfg, PointCloud< PointXYZRGBA >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
Variables
string	folder_
float	noise_
float	r_
float	rf_
float	rn_
float	step_
bool	vis_

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 fpfh_primitives_old.cpp.

Typedef Documentation

typedef visualization::PointCloudColorHandlerRGBField<PointXYZRGBA> ColorHdlRGBA

Definition at line 89 of file fpfh_primitives_old.cpp.

typedef Eigen::Vector3f Vec

Definition at line 88 of file fpfh_primitives_old.cpp.

Function Documentation

void corner_concave	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out
	)

Definition at line 259 of file fpfh_primitives_old.cpp.

void corner_convex	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out
	)

Definition at line 253 of file fpfh_primitives_old.cpp.

void cylinder_concave	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out,
		float	r
	)

Definition at line 265 of file fpfh_primitives_old.cpp.

void cylinder_convex	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out,
		float	r
	)

Definition at line 279 of file fpfh_primitives_old.cpp.

void edge_concave	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out
	)

Definition at line 239 of file fpfh_primitives_old.cpp.

void edge_convex	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out
	)

Definition at line 225 of file fpfh_primitives_old.cpp.

string fl2label	(	const float &	f,
		const size_t &	precision
	)

Definition at line 143 of file fpfh_primitives_old.cpp.

void generateFeature	(	ft_config *	cfg,
		PointIndices::Ptr	idx,
		PointCloud< PointXYZRGBA >::Ptr &	p_in,
		PointCloud< Normal >::Ptr &	normal_out
	)

Definition at line 166 of file fpfh_primitives_old.cpp.

void generateName	(	ft_config *	cfg,
		string	shape
	)

Definition at line 157 of file fpfh_primitives_old.cpp.

size_t getShapeCenter ( PointCloud< PointXYZRGBA >::Ptr & cloud )

Definition at line 198 of file fpfh_primitives_old.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 323 of file fpfh_primitives_old.cpp.

void plane	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out
	)

Definition at line 212 of file fpfh_primitives_old.cpp.

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

Definition at line 109 of file fpfh_primitives_old.cpp.

void sphere_concave	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out,
		float	r
	)

Definition at line 308 of file fpfh_primitives_old.cpp.

void sphere_convex	(	ft_config *	cfg,
		PointCloud< PointXYZRGBA >::Ptr &	out,
		PointCloud< Normal >::Ptr &	normal_out,
		float	r
	)

Definition at line 293 of file fpfh_primitives_old.cpp.

Variable Documentation

string folder_

Definition at line 91 of file fpfh_primitives_old.cpp.

float noise_

Definition at line 94 of file fpfh_primitives_old.cpp.

float r_

Definition at line 97 of file fpfh_primitives_old.cpp.

float rf_

Definition at line 96 of file fpfh_primitives_old.cpp.

float rn_

Definition at line 95 of file fpfh_primitives_old.cpp.

float step_

Definition at line 93 of file fpfh_primitives_old.cpp.

bool vis_

Definition at line 92 of file fpfh_primitives_old.cpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation