velo2cam_utils.h File Reference

#include <vector>
#include <cmath>
#include <unistd.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/common/eigen.h>
#include <pcl/common/transforms.h>
#include <ros/ros.h>

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Classes
struct	Velodyne::Point

Namespaces
	Velodyne

Macros
#define	DEBUG   0
#define	PCL_NO_PRECOMPILE

Functions
void	Velodyne::addRange (pcl::PointCloud< Velodyne::Point > &pc)
void	colourCenters (const pcl::PointCloud< pcl::PointXYZ >::Ptr pc, pcl::PointCloud< pcl::PointXYZI >::Ptr coloured)
void	getCenterClusters (pcl::PointCloud< pcl::PointXYZ >::Ptr cloud_in, pcl::PointCloud< pcl::PointXYZ >::Ptr centers_cloud, double cluster_tolerance=0.10, int min_cluster_size=15, int max_cluster_size=200, bool verbosity=true)
vector< vector< Point * > >	Velodyne::getRings (pcl::PointCloud< Velodyne::Point > &pc)
Eigen::Affine3f	getRotationMatrix (Eigen::Vector3f source, Eigen::Vector3f target)
void	Velodyne::normalizeIntensity (pcl::PointCloud< Point > &pc, float minv, float maxv)
	POINT_CLOUD_REGISTER_POINT_STRUCT (Velodyne::Point,(float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(uint16_t, ring, ring)(float, range, range))
void	sortPatternCentersXY (pcl::PointCloud< pcl::PointXYZ >::Ptr pc, vector< pcl::PointXYZ > &v)
void	sortPatternCentersYZ (pcl::PointCloud< pcl::PointXYZ >::Ptr pc, vector< pcl::PointXYZ > &v)

Variables
struct Velodyne::Point	Velodyne::EIGEN_ALIGN16
static const int	RINGS_COUNT = 16

Macro Definition Documentation

#define DEBUG   0

Definition at line 25 of file velo2cam_utils.h.

#define PCL_NO_PRECOMPILE

Definition at line 24 of file velo2cam_utils.h.

Function Documentation

void colourCenters	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr	pc,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	coloured
	)

Definition at line 146 of file velo2cam_utils.h.

void getCenterClusters	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	cloud_in,
		pcl::PointCloud< pcl::PointXYZ >::Ptr	centers_cloud,
		double	cluster_tolerance = 0.10,
		int	min_cluster_size = 15,
		int	max_cluster_size = 200,
		bool	verbosity = true
	)

Definition at line 180 of file velo2cam_utils.h.

Eigen::Affine3f getRotationMatrix	(	Eigen::Vector3f	source,
		Eigen::Vector3f	target
	)

Definition at line 213 of file velo2cam_utils.h.

POINT_CLOUD_REGISTER_POINT_STRUCT	(	Velodyne::Point	,
		(float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(uint16_t, ring, ring)(float, range, range)
	)

void sortPatternCentersXY	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	pc,
		vector< pcl::PointXYZ > &	v
	)

Definition at line 92 of file velo2cam_utils.h.

void sortPatternCentersYZ	(	pcl::PointCloud< pcl::PointXYZ >::Ptr	pc,
		vector< pcl::PointXYZ > &	v
	)

Definition at line 119 of file velo2cam_utils.h.

Variable Documentation

const int RINGS_COUNT = 16

static

Definition at line 40 of file velo2cam_utils.h.