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/kdtree/kdtree.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.cpp:

Go to the source code of this file.

Classes
struct	ft_config
Typedefs
typedef visualization::PointCloudColorHandlerRGBField < PointXYZ >	ColorHdlRGBA
typedef Eigen::Vector3f	Vec
Functions
void	corner (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	corner_concave (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	cylinder (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
void	cylinder_convex (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
void	edge (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	edge_concave (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
string	fl2label (const float &f, const size_t &precision)
void	generateFeature (ft_config *cfg, PointCloud< PointXYZ >::Ptr &p_in, PointCloud< Normal >::Ptr &normal_out)
void	generateName (ft_config *cfg, string shape)
int	main (int argc, char **argv)
void	plane (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out)
void	readOptions (int argc, char *argv[])
void	sphere (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
void	sphere_concave (ft_config *cfg, PointCloud< PointXYZ >::Ptr &out, PointCloud< Normal >::Ptr &normal_out, float r)
Variables
bool	co
bool	cy
bool	ed
string	folder_
float	noise_
bool	pl
float	r_
float	rf_
float	rn_
bool	sp
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.cpp.

Typedef Documentation

typedef visualization::PointCloudColorHandlerRGBField<PointXYZ> ColorHdlRGBA

Definition at line 90 of file fpfh_primitives.cpp.

typedef Eigen::Vector3f Vec

Definition at line 89 of file fpfh_primitives.cpp.

Function Documentation

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

Definition at line 249 of file fpfh_primitives.cpp.

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

Definition at line 264 of file fpfh_primitives.cpp.

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

Definition at line 280 of file fpfh_primitives.cpp.

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

Definition at line 296 of file fpfh_primitives.cpp.

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

Definition at line 224 of file fpfh_primitives.cpp.

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

Definition at line 237 of file fpfh_primitives.cpp.

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

Definition at line 161 of file fpfh_primitives.cpp.

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

Definition at line 185 of file fpfh_primitives.cpp.

void generateName	(	ft_config *	cfg,
		string	shape
	)

Definition at line 175 of file fpfh_primitives.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 334 of file fpfh_primitives.cpp.

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

Definition at line 213 of file fpfh_primitives.cpp.

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

Definition at line 110 of file fpfh_primitives.cpp.

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

Definition at line 308 of file fpfh_primitives.cpp.

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

Definition at line 322 of file fpfh_primitives.cpp.

Variable Documentation

bool co

Definition at line 93 of file fpfh_primitives.cpp.

bool cy

Definition at line 93 of file fpfh_primitives.cpp.

bool ed

Definition at line 93 of file fpfh_primitives.cpp.

string folder_

Definition at line 92 of file fpfh_primitives.cpp.

float noise_

Definition at line 95 of file fpfh_primitives.cpp.

bool pl

Definition at line 93 of file fpfh_primitives.cpp.

float r_

Definition at line 98 of file fpfh_primitives.cpp.

float rf_

Definition at line 97 of file fpfh_primitives.cpp.

float rn_

Definition at line 96 of file fpfh_primitives.cpp.

bool sp

Definition at line 93 of file fpfh_primitives.cpp.

float step_

Definition at line 94 of file fpfh_primitives.cpp.

bool vis_

Definition at line 93 of file fpfh_primitives.cpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation