18#include <mrpt/config.h>
22#include <boost/thread/mutex.hpp>
24#include <pcl/visualization/cloud_viewer.h>
25#include <pcl/visualization/pcl_visualizer.h>
89 void detectPlanesCloud( pcl::PointCloud<PointT>::Ptr &pointCloudPtr_arg, Eigen::Matrix4f &poseKF,
double distThreshold,
double angleThreshold,
double minInliersF);
100 bool areSamePlane(
Plane &plane1,
Plane &plane2,
const float &cosAngleThreshold,
const float &distThreshold,
const float &proxThreshold);
130 void viz_cb (pcl::visualization::PCLVisualizer& viz);
A class used to store a Plane-based Map (PbMap).
void checkProximity(Plane &plane, float proximity)
pcl::visualization::CloudViewer cloudViewer
PbMapLocaliser * mpPbMapLocaliser
mrpt::system::TThreadHandle pbmaker_hd
void serializePbMap(std::string path)
std::set< unsigned > observedPlanes
PbMapMaker(const std::string &config_file)
bool areSamePlane(Plane &plane1, Plane &plane2, const float &cosAngleThreshold, const float &distThreshold, const float &proxThreshold)
void mergePlanes(Plane &updatePlane, Plane &discardPlane)
boost::mutex mtx_pbmap_busy
std::set< unsigned > sQueueObservedPlanes
bool arePlanesNearby(Plane &plane1, Plane &plane2, const float distThreshold)
SemanticClustering * clusterize
void detectPlanesCloud(pcl::PointCloud< PointT >::Ptr &pointCloudPtr_arg, Eigen::Matrix4f &poseKF, double distThreshold, double angleThreshold, double minInliersF)
PlaneInferredInfo * mpPlaneInferInfo
void watchProperties(std::set< unsigned > &observedPlanes, Plane &observedPlane)
std::vector< frameRGBDandPose > frameQueue
void viz_cb(pcl::visualization::PCLVisualizer &viz)
A class used to store a planar feature (Plane for short).
A class used to infer some semantic meaning to the planes of a PbMap.
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: