15 #ifndef __PBMAPMAKER_H 16 #define __PBMAPMAKER_H 18 #include <mrpt/config.h> 23 #include <pcl/visualization/cloud_viewer.h> 24 #include <pcl/visualization/pcl_visualizer.h> 88 void detectPlanesCloud( pcl::PointCloud<PointT>::Ptr &pointCloudPtr_arg, Eigen::Matrix4f &poseKF,
double distThreshold,
double angleThreshold,
double minInliersF);
91 bool arePlanesNearby(
Plane &plane1,
Plane &plane2,
const float distThreshold);
95 void checkProximity(
Plane &plane,
float proximity);
99 bool areSamePlane(
Plane &plane1,
Plane &plane2,
const float &cosAngleThreshold,
const float &distThreshold,
const float &proxThreshold);
104 void mergePlanes(
Plane &updatePlane,
Plane &discardPlane);
129 void viz_cb (pcl::visualization::PCLVisualizer& viz);
138 bool stop_pbMapMaker();
147 void watchProperties(std::set<unsigned> &observedPlanes,
Plane &observedPlane);
148 void saveInfoFiles();
PlaneInferredInfo * mpPlaneInferInfo
std::set< unsigned > observedPlanes
A class used to store a planar feature (Plane for short).
PbMapLocaliser * mpPbMapLocaliser
boost::mutex mtx_pbmap_busy
A class used to infer some semantic meaning to the planes of a PbMap.
mrpt::system::TThreadHandle pbmaker_hd
SemanticClustering * clusterize
GLsizei const GLchar ** string
std::set< unsigned > sQueueObservedPlanes
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
pcl::PointCloud< PointT >::Ptr cloudPtr
This structure contains the information needed to interface the threads API on each platform: ...
std::vector< frameRGBDandPose > frameQueue
A class used to store a Plane-based Map (PbMap).
pcl::visualization::CloudViewer cloudViewer