86 lines
3.4 KiB
C
86 lines
3.4 KiB
C
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#ifndef MYPCL_H_
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#define MYPCL_H_
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/common/common.h>
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#include <pcl/common/transforms.h>
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#include <pcl/filters/crop_box.h>
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#include <pcl/compression/octree_pointcloud_compression.h>
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#include <mutex>
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#include <sstream>
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#include <fstream>
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#include <dirent.h>
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#include <time.h>
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#include <sys/time.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include <string>
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namespace ai_matrix
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{
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class MyPcl final
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{
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public:
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static MyPcl *getins();
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//点云压缩
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void compressPCD(const pcl::PointCloud<pcl::PointXYZRGB> &cloud, std::stringstream &compressedData);
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//拟合车厢边缘线
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void insert_plane_line(pcl::PointCloud<pcl::PointXYZRGB> &line, float x_min, float x_max, float y, float z, unsigned char r, unsigned char g, unsigned char b, float step = 0.02);
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//拟合装载区域边缘线
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void insert_load_line(pcl::PointCloud<pcl::PointXYZRGB> &line, float x_min, float x_max, float y_min, float y_max, float z, unsigned char r, unsigned char g, unsigned char b, float step = 0.02);
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//拟合限制线
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void insert_bound_line(pcl::PointCloud<pcl::PointXYZRGB> &line, float y_min, float y_max, float z_min, float z_max, float x, unsigned char r, unsigned char g, unsigned char b, float step = 0.02);
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//拟合识别物体边缘框
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void insert_object_line(pcl::PointCloud<pcl::PointXYZRGB> &line, float x_min, float x_max, float y, float z_min, float z_max, unsigned char r, unsigned char g, unsigned char b, float step = 0.02);
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//坐标变换1，有参照物时用
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void coords_convert(const pcl::PointCloud<pcl::PointXYZ> &cloud_in, pcl::PointCloud<pcl::PointXYZ> &cloud_out, const Eigen::Matrix4f &tf, float thetaz = 0);
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//坐标变换2，无参照物时用
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void coords_convert(const pcl::PointCloud<pcl::PointXYZ> &cloud_in, pcl::PointCloud<pcl::PointXYZ> &cloud_out, float thetax = 0, float thetay = 0, float thetaz = 0, float radarz = 0, bool reverse = false);
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//取中心立方体
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void cube_cloud(const pcl::PointCloud<pcl::PointXYZ> &cloud_in, std::vector<int> &indices, const Eigen::Vector3f &min, const Eigen::Vector3f &max);
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//取中心立方体
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void cube_cloud(const pcl::PointCloud<pcl::PointXYZ> &cloud_in, pcl::PointCloud<pcl::PointXYZ> &cloud_out, const Eigen::Vector3f &min, const Eigen::Vector3f &max);
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//取中心立方体
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void cube_cloud(const pcl::PointCloud<pcl::PointXYZ> &cloud_in, pcl::PointCloud<pcl::PointXYZ> &cloud_out, std::vector<int> &indices, const Eigen::Vector3f &min, const Eigen::Vector3f &max);
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private:
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MyPcl() = default;
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MyPcl(const MyPcl &) = delete;
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MyPcl(MyPcl &&) = delete;
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MyPcl &operator=(const MyPcl &) = delete;
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MyPcl &operator=(MyPcl &&) = delete;
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~MyPcl() = default;
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//定义一个嵌套类，负责释放内存，操作系统自动完成，不用担心内存泄露
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class GarbageCollector
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{
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public:
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~GarbageCollector()
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{
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if (MyPcl::ins)
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{
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delete MyPcl::ins;
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MyPcl::ins = nullptr;
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}
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}
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};
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static GarbageCollector gc;
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static MyPcl *ins;
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static std::mutex mx; //锁，保证线程安全
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};
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}
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#endif
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