#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <boost/foreach.hpp>
#include <pcl/io/pcd_io.h>
#include <iostream>
#include <fstream>
#include <stdio.h>
#include <narf_recognition/object_recognition_helper.h>
#include <boost/thread/thread.hpp>
#include "pcl/console/parse.h"
#include "pcl/visualization/range_image_visualizer.h"
#include "pcl/visualization/pcl_visualizer.h"
#include "Eigen/Geometry"
#include "pcl/point_cloud.h"
#include "pcl/range_image/range_image.h"
#include "pcl/features/narf.h"
#include "pcl/common/point_correspondence.h"
#include "pcl/common/poses_from_matches.h"
#include "pcl/features/range_image_border_extractor.h"
#include "pcl/keypoints/narf_keypoint.h"
#include "pcl/range_image/range_image_planar.h"
#include "sensor_msgs/Image.h"
#include "pcl/common/file_io.h"
#include "pcl/common/common_headers.h"
#include <unistd.h>

Include dependency graph for subscribe_object.cpp:

Functions
void	callback (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &msg, ros::Publisher &pub, ros::Publisher &pub2)
bool	fileExist (const char *fileName)
int	main (int argc, char **argv)
Variables
float &	angular_resolution = orh_params.angular_resolution
RangeImage::CoordinateFrame &	coordinate_frame = orh_params.coordinate_frame
sensor_msgs::ImageConstPtr	depth_image_msg
FalsePositivesFilter &	false_positives_filter = object_recognition_helper.getFalsePositivesFilter ()
FalsePositivesFilter::Parameters &	fpf_params = false_positives_filter.getParameters ()
bool	got_new_data = false
boost::mutex	m
float &	max_descriptor_distance = orh_params.max_descriptor_distance
int &	max_no_of_threads = orh_params.max_no_of_threads
float	noise_level_factor = 0.1
ObjectRecognitionHelper	object_recognition_helper
ObjectRecognitionHelper::Parameters &	orh_params = object_recognition_helper.getParameters ()
bool	print_timings = true
bool &	set_unseen_to_max_range = orh_params.set_unseen_to_max_range
bool	show_feature_match_positions = 0
bool	show_found_objects = 1
bool	show_interest_points = 0
bool	show_model_views = 0
bool	show_validation_points = 0
bool	show_view_simulation_results = 0
bool	single_view_model = orh_params.single_view_model
float	support_size_factor = 0.5f
bool &	use_rotation_invariance = orh_params.use_rotation_invariance