58 lines
1.6 KiB
Text
58 lines
1.6 KiB
Text
#ifndef __GRID_CLUSTER_H__
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#define __GRID_CLUSTER_H__
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#include "slam6d/scan.h"
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#include "veloslam/gridcell.h"
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#define CUDE_TYPE_ABOVE_LIDAR 0x00000001
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#define CUDE_TYPE_IN_OBSTACLE_RANGE 0x00000002
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#define CUDE_TYPE_CONTAIN_SICK 0x00000400
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#define CLUSTER_FEATURE_TYPE_OBJECT 0x00000001
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#define CLUSTER_TYPE_MOVING_OBJECT 0x00000002
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#define CLUSTER_TYPE_MOVING_OBJECT_PEDESTRIAN 0x00000004
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#define CLUSTER_TYPE_MOVING_OBJECT_BICYCLE 0x00000008
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#define CLUSTER_TYPE_MOVING_OBJECT_CAR 0x00000010
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#define CLUSTER_TYPE_MOVING_OBJECT_ BUS 0x00000020
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#define CLUSTER_TYPE_STATIC_OBJECT 0x00010000
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#define CLUSTER_TYPE_STATIC_OBJECT_BUILDING 0x00020000
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#define CLUSTER_TYPE_STATIC_OBJECT_BILLBOARD 0x00040000
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#define CLUSTER_TYPE_STATIC_OBJECT_SCULPTURE 0x00080000
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#define CLUSTER_TYPE_STATIC_OBJECT_PLANT 0x00100000
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#define CLUSTER_TYPE_STATIC_OBJECT_TREE 0x00200000
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#define CLUSTER_TYPE_STATIC_OBJECT_SHRUB 0x00400000
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class clusterFeature
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{
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public:
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float min_x,min_y,min_z;
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float max_x,max_y,max_z;
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float avg_x, avg_y, avg_z;
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float min_y_x, max_y_x;
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float size_x,size_y,size_z;
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float speed_x, speed_y, speed;
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float theta, radius;
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int size;
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float length;
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float width;
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float boxDirection;
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double boxVex[4][2];
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int frameNO; //in which scan
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int selfID; //which number in clusters
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int trackNO; //which track log it
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int pointNumber;
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unsigned int clusterType;
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};
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typedef std::vector<cellFeature*> cluster;
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typedef std::vector<cluster> clusterArray;
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typedef std::vector<clusterFeature> clusterFeatureArray;
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#endif //__GRID_CLUSTER_H__
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