PbMapMaker.cpp File Reference

#include "pbmap-precomp.h"
#include <mrpt/utils/types_math.h>
#include <mrpt/system/threads.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/features/normal_3d.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/segmentation/organized_multi_plane_segmentation.h>
#include <pcl/segmentation/organized_connected_component_segmentation.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/common/transforms.h>
#include <pcl/common/time.h>
#include <mrpt/synch/CCriticalSection.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/pbmap/PbMapMaker.h>
#include <iostream>

Include dependency graph for PbMapMaker.cpp:

Go to the source code of this file.

Classes
struct	config_pbmap

Macros
#define	WATCH_UNARY   0
#define	WATCH_BINARY   0
#define	WATCH_COLOR   1

Functions
double	BhattacharyyaDist (std::vector< float > &hist1, std::vector< float > &hist2)
void	readConfigFile (const string &config_file_name)
void	keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event, void *viewer_void)

Variables
mrpt::synch::CCriticalSection	CS_visualize
struct config_pbmap	configPbMap
bool	graphRepresentation = false
unsigned char	red [10] = {255, 0, 0, 255, 255, 0, 255, 204, 0, 255}
unsigned char	grn [10] = { 0, 255, 0, 255, 0, 255, 160, 51, 128, 222}
unsigned char	blu [10] = { 0, 0, 255, 0, 255, 255, 0 , 204, 0, 173}
double	ared [10] = {1.0, 0, 0, 1.0, 1.0, 0, 1.0, 0.8, 0, 1.0}
double	agrn [10] = { 0, 1.0, 0, 1.0, 0, 1.0, 0.6, 0.2, 0.5, 0.9}
double	ablu [10] = { 0, 0, 1.0, 0, 1.0, 1.0, 0, 0.8, 0, 0.7}

Macro Definition Documentation

WATCH_BINARY

#define WATCH_BINARY   0

Definition at line 42 of file PbMapMaker.cpp.

WATCH_COLOR

#define WATCH_COLOR   1

Definition at line 43 of file PbMapMaker.cpp.

WATCH_UNARY

#define WATCH_UNARY   0

Definition at line 41 of file PbMapMaker.cpp.

Function Documentation

BhattacharyyaDist()

double BhattacharyyaDist	(	std::vector< float > &	hist1,
		std::vector< float > &	hist2
	)

Definition at line 52 of file PbMapMaker.cpp.

Referenced by mrpt::pbmap::PbMapMaker::watchProperties().

keyboardEventOccurred()

void keyboardEventOccurred	(	const pcl::visualization::KeyboardEvent &	event,
		void *	viewer_void
	)

Definition at line 902 of file PbMapMaker.cpp.

References graphRepresentation.

Referenced by mrpt::pbmap::PbMapMaker::run().

readConfigFile()

void readConfigFile

(

const string &

config_file_name

)

Definition at line 105 of file PbMapMaker.cpp.

References config_pbmap::angle_threshold, config_pbmap::color_threshold, config_pbmap::config_localiser, configPbMap, config_pbmap::detect_loopClosure, config_pbmap::dist_threshold, config_pbmap::graph_mode, config_pbmap::hue_threshold, config_pbmap::inferStructure, config_pbmap::intensity_threshold, config_pbmap::makeClusters, config_pbmap::max_cos_normal, config_pbmap::max_dist_center_plane, config_pbmap::minInliersRate, config_pbmap::path_save_pbmap, config_pbmap::path_save_registered_cloud, config_pbmap::proximity_neighbor_planes, config_pbmap::proximity_threshold, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), config_pbmap::save_registered_cloud, and config_pbmap::use_color.

Referenced by mrpt::pbmap::PbMapMaker::PbMapMaker().

Variable Documentation

ablu

double ablu[10] = { 0, 0, 1.0, 0, 1.0, 1.0, 0, 0.8, 0, 0.7}

Definition at line 982 of file PbMapMaker.cpp.

Referenced by mrpt::pbmap::PbMapMaker::viz_cb().

agrn

double agrn[10] = { 0, 1.0, 0, 1.0, 0, 1.0, 0.6, 0.2, 0.5, 0.9}

Definition at line 981 of file PbMapMaker.cpp.

Referenced by mrpt::pbmap::PbMapMaker::viz_cb().

ared

double ared[10] = {1.0, 0, 0, 1.0, 1.0, 0, 1.0, 0.8, 0, 1.0}

Definition at line 980 of file PbMapMaker.cpp.

Referenced by mrpt::pbmap::PbMapMaker::viz_cb().

blu

unsigned char blu[10] = { 0, 0, 255, 0, 255, 255, 0 , 204, 0, 173}

Definition at line 978 of file PbMapMaker.cpp.

Referenced by mrpt::pbmap::PbMapMaker::viz_cb().

configPbMap

struct config_pbmap configPbMap

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), mrpt::pbmap::PbMapMaker::PbMapMaker(), readConfigFile(), mrpt::pbmap::PbMapMaker::run(), mrpt::pbmap::PbMapMaker::saveInfoFiles(), and mrpt::pbmap::PbMapMaker::watchProperties().

CS_visualize

mrpt::synch::CCriticalSection CS_visualize

Definition at line 49 of file PbMapMaker.cpp.

Referenced by mrpt::pbmap::PbMapMaker::detectPlanesCloud(), and mrpt::pbmap::PbMapMaker::viz_cb().

graphRepresentation

bool graphRepresentation = false

Definition at line 901 of file PbMapMaker.cpp.

Referenced by keyboardEventOccurred(), and mrpt::pbmap::PbMapMaker::viz_cb().

grn

unsigned char grn[10] = { 0, 255, 0, 255, 0, 255, 160, 51, 128, 222}

Definition at line 977 of file PbMapMaker.cpp.

Referenced by mrpt::pbmap::PbMapMaker::viz_cb().

red

unsigned char red[10] = {255, 0, 0, 255, 255, 0, 255, 204, 0, 255}

Definition at line 976 of file PbMapMaker.cpp.

Referenced by mrpt::utils::CImage::loadFromMemoryBuffer(), mrpt::gui::CDisplayWindow::plot(), mrpt::maps::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences(), and mrpt::pbmap::PbMapMaker::viz_cb().