| 32 | bool is_kitti; |
| 33 | |
| 34 | void pub_score(std::string mode, double measure) { |
| 35 | static int SCALE = 5; |
| 36 | visualization_msgs::Marker marker; |
| 37 | marker.header.frame_id = PatchworkGroundSeg->frame_patchwork; |
| 38 | marker.header.stamp = ros::Time(); |
| 39 | marker.ns = "my_namespace"; |
| 40 | marker.id = 0; |
| 41 | marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING; |
| 42 | marker.action = visualization_msgs::Marker::ADD; |
| 43 | if (mode == "p") marker.pose.position.x = 28.5; |
| 44 | if (mode == "r") marker.pose.position.x = 25; |
| 45 | marker.pose.position.y = 30; |
| 46 | |
| 47 | marker.pose.position.z = 1; |
| 48 | marker.pose.orientation.x = 0.0; |
| 49 | marker.pose.orientation.y = 0.0; |
| 50 | marker.pose.orientation.z = 0.0; |
| 51 | marker.pose.orientation.w = 1.0; |
| 52 | marker.scale.x = SCALE; |
| 53 | marker.scale.y = SCALE; |
| 54 | marker.scale.z = SCALE; |
| 55 | marker.color.a = 1.0; // Don't forget to set the alpha! |
| 56 | marker.color.r = 0.0; |
| 57 | marker.color.g = 1.0; |
| 58 | marker.color.b = 0.0; |
| 59 | // only if using a MESH_RESOURCE marker type: |
| 60 | marker.text = mode + ": " + std::to_string(measure); |
| 61 | if (mode == "p") PrecisionPublisher.publish(marker); |
| 62 | if (mode == "r") RecallPublisher.publish(marker); |
| 63 | } |
| 64 | |
| 65 | template <typename T> |
| 66 | pcl::PointCloud<T> cloudmsg2cloud(sensor_msgs::PointCloud2 cloudmsg) { |