#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl_msgs/PointIndices.h>
#include <pcl_msgs/ModelCoefficients.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_line.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/filters/extract_indices.h>
#include <dynamic_reconfigure/server.h>
#include <velo2cam_calibration/CameraConfig.h>
#include "velo2cam_utils.h"
#include <velo2cam_calibration/ClusterCentroids.h>

Include dependency graph for stereo_pattern.cpp:

Functions
void	callback (const PointCloud2::ConstPtr &camera_cloud, const pcl_msgs::ModelCoefficients::ConstPtr &cam_plane_coeffs)

int	main (int argc, char **argv)

void	param_callback (velo2cam_calibration::CameraConfig &config, uint32_t level)

void	publish_cloud (pcl::PointCloud< pcl::PointXYZ >::Ptr input_cloud, ros::Publisher pub)

Variables
ros::Publisher	auxpoint_pub

double	border_distance_inliers_

ros::Publisher	boundary_edges_pub

double	circle_threshold_

ros::Publisher	circles_pub

double	cluster_size_

ros::Publisher	coeff_pub

pcl::PointCloud< pcl::PointXYZ >::Ptr	cumulative_cloud

ros::Publisher	cumulative_pub

ros::Publisher	final_pub

std_msgs::Header	header_

ros::Publisher	high_curvature_edges_pub

int	images_proc_ =0

int	images_used_ =0

ros::Publisher	inliers_pub

double	line_threshold_

double	min_border_x_

int	min_centers_found_

double	min_distance_between_borders_x_

double	min_distance_between_borders_y_

int	min_line_inliers_

double	min_plane_normal_z_

int	nFrames

ros::Publisher	no_circles_pub

ros::Publisher	occluded_edges_pub

ros::Publisher	occluding_edges_pub

double	plane_distance_inliers_

ros::Publisher	plane_edges_pub

ros::Publisher	rgb_edges_pub

ros::Publisher	transf_pub

ros::Publisher	xy_pattern_pub

Function Documentation

void callback	(	const PointCloud2::ConstPtr &	camera_cloud,
		const pcl_msgs::ModelCoefficients::ConstPtr &	cam_plane_coeffs
	)

Definition at line 92 of file stereo_pattern.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 414 of file stereo_pattern.cpp.

void param_callback	(	velo2cam_calibration::CameraConfig &	config,
		uint32_t	level
	)

Definition at line 407 of file stereo_pattern.cpp.

void publish_cloud	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	input_cloud,
		ros::Publisher	pub
	)

Definition at line 85 of file stereo_pattern.cpp.

Variable Documentation

ros::Publisher auxpoint_pub

Definition at line 79 of file stereo_pattern.cpp.

double border_distance_inliers_

Definition at line 60 of file stereo_pattern.cpp.

ros::Publisher boundary_edges_pub

Definition at line 67 of file stereo_pattern.cpp.

double circle_threshold_

Definition at line 53 of file stereo_pattern.cpp.

ros::Publisher circles_pub

Definition at line 73 of file stereo_pattern.cpp.

double cluster_size_

Definition at line 62 of file stereo_pattern.cpp.

ros::Publisher coeff_pub

Definition at line 66 of file stereo_pattern.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr cumulative_cloud

Definition at line 81 of file stereo_pattern.cpp.

ros::Publisher cumulative_pub

Definition at line 76 of file stereo_pattern.cpp.

ros::Publisher final_pub

Definition at line 77 of file stereo_pattern.cpp.

std_msgs::Header header_

Definition at line 83 of file stereo_pattern.cpp.

ros::Publisher high_curvature_edges_pub

Definition at line 70 of file stereo_pattern.cpp.

int images_proc_ =0

Definition at line 51 of file stereo_pattern.cpp.

int images_used_ =0

Definition at line 51 of file stereo_pattern.cpp.

ros::Publisher inliers_pub

Definition at line 65 of file stereo_pattern.cpp.

double line_threshold_

Definition at line 54 of file stereo_pattern.cpp.

double min_border_x_

Definition at line 57 of file stereo_pattern.cpp.

int min_centers_found_

Definition at line 63 of file stereo_pattern.cpp.

double min_distance_between_borders_x_

Definition at line 58 of file stereo_pattern.cpp.

double min_distance_between_borders_y_

Definition at line 59 of file stereo_pattern.cpp.

int min_line_inliers_

Definition at line 61 of file stereo_pattern.cpp.

double min_plane_normal_z_

Definition at line 55 of file stereo_pattern.cpp.

int nFrames

Definition at line 50 of file stereo_pattern.cpp.

ros::Publisher no_circles_pub

Definition at line 75 of file stereo_pattern.cpp.

ros::Publisher occluded_edges_pub

Definition at line 69 of file stereo_pattern.cpp.

ros::Publisher occluding_edges_pub

Definition at line 68 of file stereo_pattern.cpp.

double plane_distance_inliers_

Definition at line 56 of file stereo_pattern.cpp.

ros::Publisher plane_edges_pub

Definition at line 72 of file stereo_pattern.cpp.

ros::Publisher rgb_edges_pub

Definition at line 71 of file stereo_pattern.cpp.

ros::Publisher transf_pub

Definition at line 78 of file stereo_pattern.cpp.

ros::Publisher xy_pattern_pub

Definition at line 74 of file stereo_pattern.cpp.

Functions

Variables

Function Documentation

Variable Documentation