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