ground_surface_utilities.h

Go to the documentation of this file.

#ifndef MULTISENSE_ROS_GROUND_SURFACE_UTILITIES_H
#define MULTISENSE_ROS_GROUND_SURFACE_UTILITIES_H

#include <vector>
#include <numeric>

#include <Eigen/Geometry>
#include <Eigen/StdVector>

#include <multisense_ros/point_cloud_utilities.h>

namespace ground_surface_utilities {

Eigen::Matrix<uint8_t, 3, 1> groundSurfaceClassToPixelColor(const uint8_t value);

sensor_msgs::PointCloud2 eigenToPointcloud(
    const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f>> &input,
    const std::string &frame_id);

struct SplineDrawParameters
{
    double max_z_m = 30.0;

    double min_z_m = 0.5;

    double max_x_m = 25.0;

    double min_x_m = -25.0;

    double resolution = 0.1;
};

std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f>> convertSplineToPointcloud(
    const Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> &controlGrid,
    const SplineDrawParameters &splineDrawParams,
    const double pointcloudMaxRange,
    const float* xzCellOrigin,
    const float* xzCellSize,
    const float* minMaxAzimuthAngle,
    const float* extrinsics,
    const float* quadraticParams,
    const float baseline);

} // namespace ground_surface_utilities

#endif