velo2cam_utils.h File Reference

#include <pcl/search/kdtree.h>
#include <pcl/segmentation/extract_clusters.h>

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Classes
struct	Velodyne::Point
class	Square

Namespaces
	Velodyne

Macros
#define	DEBUG   0
#define	GEOMETRY_TOLERANCE   0.06
#define	PCL_NO_PRECOMPILE
#define	TARGET_NUM_CIRCLES   4
#define	TARGET_RADIUS   0.12

Functions
void	Velodyne::addRange (pcl::PointCloud< Velodyne::Point > &pc)
void	colourCenters (const std::vector< pcl::PointXYZ > pc, pcl::PointCloud< pcl::PointXYZI >::Ptr coloured)
void	comb (int N, int K, std::vector< std::vector< int >> &groups)
const std::string	currentDateTime ()
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, int rings_count)
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)(std::uint16_t, ring, ring)(float, range, range))
void	sortPatternCenters (pcl::PointCloud< pcl::PointXYZ >::Ptr pc, vector< pcl::PointXYZ > &v)

Variables
struct Velodyne::Point	Velodyne::EIGEN_ALIGN16

Macro Definition Documentation

DEBUG

#define DEBUG   0

Definition at line 30 of file velo2cam_utils.h.

GEOMETRY_TOLERANCE

#define GEOMETRY_TOLERANCE   0.06

Definition at line 37 of file velo2cam_utils.h.

PCL_NO_PRECOMPILE

#define PCL_NO_PRECOMPILE

Definition at line 29 of file velo2cam_utils.h.

TARGET_NUM_CIRCLES

#define TARGET_NUM_CIRCLES   4

Definition at line 35 of file velo2cam_utils.h.

TARGET_RADIUS

#define TARGET_RADIUS   0.12

Definition at line 36 of file velo2cam_utils.h.

Function Documentation

colourCenters()

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

Definition at line 185 of file velo2cam_utils.h.

comb()

void comb	(	int	N,
		int	K,
		std::vector< std::vector< int >> &	groups
	)

Definition at line 343 of file velo2cam_utils.h.

currentDateTime()

const std::string currentDateTime

(

)

Definition at line 375 of file velo2cam_utils.h.

getCenterClusters()

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 200 of file velo2cam_utils.h.

getRotationMatrix()

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

Definition at line 240 of file velo2cam_utils.h.

POINT_CLOUD_REGISTER_POINT_STRUCT()

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

sortPatternCenters()

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

Definition at line 93 of file velo2cam_utils.h.