#include "velo2cam_utils.h"
#include <ros/ros.h>
#include <ros/package.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/CameraInfo.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/common/transforms.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>
#include <image_geometry/pinhole_camera_model.h>

Include dependency graph for levinson.cpp:

Classes
struct	COLOUR

Macros
#define	PCL_NO_PRECOMPILE

Functions
template<class T >
bool	between (T min, T test, T max)

template<typename Type_in , typename Type_out >
float	calc (float &val, const float &psi, int row, int col, const cv::Mat &in, cv::Mat &out)

void	checkExtrinics (const sensor_msgs::CameraInfoConstPtr &cinfo_msg)

const std::string	currentDateTime ()

template<typename ImageT >
void	edge_max (cv::Mat &in, cv::Mat &out)

void	edges_pointcloud (pcl::PointCloud< Velodyne::Point >::Ptr pc)

template<typename ImageT >
void	get_diff (int col, int row, int col_c, int row_c, int &result, cv::Mat &in)

COLOUR	GetColour (double v, double vmin, double vmax)

template<typename Type_in , typename Type_out >
void	inverse_distance_transformation (cv::Mat &in, cv::Mat &out, float alpha=0.333333333, float psi=0.98)

void	laser_callback (const sensor_msgs::PointCloud2::ConstPtr &velo_cloud)

int	main (int argc, char **argv)

template<typename ImageT >
int	max_diff_neighbors (int row_c, int col_c, cv::Mat &in)

template<typename Type_in , typename Type_out >
void	neighbors_x_neg (cv::Mat &in, cv::Mat &out, float psi, float alpha)

template<typename Type_in , typename Type_out >
void	neighbors_x_pos (cv::Mat &in, cv::Mat &out, float psi, float alpha)

template<typename Type_in , typename Type_out >
void	neighbors_y_neg (cv::Mat &in, cv::Mat &out, float psi, float alpha)

template<typename Type_in , typename Type_out >
void	neighbors_y_pos (cv::Mat &in, cv::Mat &out, float psi, float alpha)

void	stereo_callback (const sensor_msgs::ImageConstPtr &image_msg)

void	transformAsMatrix (const tf::Transform &bt, Eigen::Matrix4f &out_mat)

Variables
bool	cameraReceived

ros::Publisher	cloud_pub

pcl::PointCloud< Velodyne::Point >::Ptr	edges_cloud

cv::Mat	img_out

bool	laserReceived

bool	listen_to_tf_

bool	save_to_file_

std::ofstream	savefile

std::string	source_frame

int	step_

std::string	target_frame

Macro Definition Documentation

#define PCL_NO_PRECOMPILE

Definition at line 54 of file levinson.cpp.

Function Documentation

template<class T >

bool between	(	T	min,
		T	test,
		T	max
	)

inline

Definition at line 129 of file levinson.cpp.

template<typename Type_in , typename Type_out >

float calc	(	float &	val,
		const float &	psi,
		int	row,
		int	col,
		const cv::Mat &	in,
		cv::Mat &	out
	)

inline

Definition at line 180 of file levinson.cpp.

void checkExtrinics ( const sensor_msgs::CameraInfoConstPtr & cinfo_msg )

Definition at line 303 of file levinson.cpp.

const std::string currentDateTime ( )

Definition at line 525 of file levinson.cpp.

template<typename ImageT >

void edge_max	(	cv::Mat &	in,
		cv::Mat &	out
	)

inline

Definition at line 163 of file levinson.cpp.

void edges_pointcloud ( pcl::PointCloud< Velodyne::Point >::Ptr pc )

Definition at line 113 of file levinson.cpp.

template<typename ImageT >

void get_diff	(	int	col,
		int	row,
		int	col_c,
		int	row_c,
		int &	result,
		cv::Mat &	in
	)

inline

Definition at line 136 of file levinson.cpp.

COLOUR GetColour	(	double	v,
		double	vmin,
		double	vmax
	)

Definition at line 85 of file levinson.cpp.

template<typename Type_in , typename Type_out >

void inverse_distance_transformation	(	cv::Mat &	in,
		cv::Mat &	out,
		float	alpha = `0.333333333`,
		float	psi = `0.98`
	)

Definition at line 261 of file levinson.cpp.

void laser_callback ( const sensor_msgs::PointCloud2::ConstPtr & velo_cloud )

Definition at line 472 of file levinson.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 538 of file levinson.cpp.

template<typename ImageT >

int max_diff_neighbors	(	int	row_c,
		int	col_c,
		cv::Mat &	in
	)

inline

Definition at line 145 of file levinson.cpp.

template<typename Type_in , typename Type_out >

void neighbors_x_neg	(	cv::Mat &	in,
		cv::Mat &	out,
		float	psi,
		float	alpha
	)

inline

Definition at line 216 of file levinson.cpp.

template<typename Type_in , typename Type_out >

void neighbors_x_pos	(	cv::Mat &	in,
		cv::Mat &	out,
		float	psi,
		float	alpha
	)

inline

Definition at line 202 of file levinson.cpp.

template<typename Type_in , typename Type_out >

void neighbors_y_neg	(	cv::Mat &	in,
		cv::Mat &	out,
		float	psi,
		float	alpha
	)

inline

Definition at line 246 of file levinson.cpp.

template<typename Type_in , typename Type_out >

void neighbors_y_pos	(	cv::Mat &	in,
		cv::Mat &	out,
		float	psi,
		float	alpha
	)

inline

Definition at line 231 of file levinson.cpp.

void stereo_callback ( const sensor_msgs::ImageConstPtr & image_msg )

Definition at line 502 of file levinson.cpp.

void transformAsMatrix	(	const tf::Transform &	bt,
		Eigen::Matrix4f &	out_mat
	)

Definition at line 286 of file levinson.cpp.

Variable Documentation

bool cameraReceived

Definition at line 72 of file levinson.cpp.

ros::Publisher cloud_pub

Definition at line 74 of file levinson.cpp.

pcl::PointCloud<Velodyne::Point>::Ptr edges_cloud

Definition at line 73 of file levinson.cpp.

cv::Mat img_out

Definition at line 75 of file levinson.cpp.

bool laserReceived

Definition at line 72 of file levinson.cpp.

bool listen_to_tf_

Definition at line 77 of file levinson.cpp.

bool save_to_file_

Definition at line 77 of file levinson.cpp.

std::ofstream savefile

Definition at line 79 of file levinson.cpp.

std::string source_frame

Definition at line 76 of file levinson.cpp.

int step_

Definition at line 78 of file levinson.cpp.

std::string target_frame

Definition at line 76 of file levinson.cpp.

Classes

Macros

Functions

Variables

Macro Definition Documentation

Function Documentation

Variable Documentation