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>
68 void serializePbMap(std::string path);
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();