3dpcp/.svn/pristine/ef/ef9562916bed57f5d39128eb5f14ab1ef47ae3b3.svn-base

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2012-09-16 12:33:11 +00:00
/**
* @file
* @brief Representation of a 3D scan and implementation of scan matching
* @author Andreas Nuechter. Jacobs University Bremen, Germany
* @author Li Wei, Wuhan University, China
* @author Li Ming, Wuhan University, China
*/
#ifndef __VELOSCAN_H__
#define __VELOSCAN_H__
#ifdef _MSC_VER
#define snprintf _snprintf
#undef _STDIO_DEFINED
#define _USE_MATH_DEFINES
#endif
#include <vector>
#include <map>
#include "slam6d/scan.h"
#include "veloslam/gridcell.h"
#include "veloslam/gridcluster.h"
bool FilterNOMovingObjcets(clusterFeature &glu, cluster &gluData);
class Trajectory
{
public:
Trajectory();
public:
vector <Point> path;
};
/**
* @brief 3D scan representation and implementation of dynamic velodyne scan matching
*/
class VeloScan : public Scan {
public:
VeloScan();
VeloScan(const VeloScan& s);
~VeloScan();
public:
// FIXME
void FindingAllofObject(int maxDist, int minDist);
void TrackingAllofObject(int trackingAlgo);
void ExchangePointCloud();
void ClassifiAllofObject();
int DumpScan(string filename);
int DumpScanRedPoints(string filename);
int DeletePoints();
int CalcRadAndTheta();
int TransferToCellArray(int maxDist, int minDist);
void MarkStaticorMovingPointCloud();
void FreeAllCellAndCluterMemory();
void ClassifiAllObject();
void ClassifibyTrackingAllObject(int currentNO ,int windowsize);
void calcReducedPoints_byClassifi(double voxelSize, int nrpts, PointType pointtype);
int CalcScanCellFeature();
int CalcCellFeature(cell& cellobj,cellFeature& f);
int FindAndCalcScanClusterFeature();
int SearchNeigh(cluster& clu,charvv& flagvv,int i,int j);
int CalcClusterFeature(cluster& clu,clusterFeature& f);
void SaveObjectsInPCD(int index, cluster &gClusterData );
void SaveFrameInPCD( );
bool isTrackerHandled;
long scanid;
/** scanCellFeatureArray */
cellArray scanCellArray;
cellFeatureArray scanCellFeatureArray;
clusterArray scanClusterArray;
clusterFeatureArray scanClusterFeatureArray;
int clusterNum;//the number of clusters to be tracked, added by yuanjun
};
#endif