Class ImageProjection

include/imageProjection.hpp:10–582

#define USE_FOUR_CROSS_NEIGHBORS_PIXELS 2

class ImageProjection {
private:
    pcl::PointCloud<PointTypeIP>::Ptr laserCloudIn;
    pcl::PointCloud<PointTypeIP>::Ptr fullCloud; // projected velodyne raw cloud, but saved in the form of 1-D matrix
    pcl::PointCloud<PointTypeIP>::Ptr fullInfoCloud; // same as fullCloud, but with intensity is replaced with range

    pcl::PointCloud<PointTypeIP>::Ptr groundCloud;
    pcl::PointCloud<PointTypeIP>::Ptr segmentedCloud;
    pcl::PointCloud<PointTypeIP>::Ptr segmentedCloudPure;
    pcl::PointCloud<PointTypeIP>::Ptr outlierCloud;

    PointTypeIP nanPoint; // fill in fullCloud at each iteration

    cv::Mat rangeMat; // range matrix for range image
    cv::Mat labelMat; // label matrix for segmentaiton marking
    cv::Mat groundMat; // ground matrix for ground cloud marking

    int labelCount;
    int numMinPtsForSubclustering = 30;

    float startOrientation;
    float endOrientation;

    quatro::cloud_info segMsg; // info of segmented cloud
    std_msgs::Header       cloudHeader;

    std::vector<std::pair<int8_t, int8_t> > neighborIterator; // neighbor iterator for segmentaiton process

    uint16_t *allPushedIndX; // array for tracking points of a segmented object
    uint16_t *allPushedIndY;

    uint16_t *queueIndX; // array for breadth-first search process of segmentation
    uint16_t *queueIndY;

public:
    int neighborPixelsSelectionMode = NOT_ASSIGNED;
    string groundSegMode;

    int N_SCAN;
    int Horizon_SCAN; //1028~4500
    float ang_res_x;
    float ang_res_y; //28.0/float(N_SCAN-1);
    float ang_bottom;
    int groundScanInd; 

    float segmentAlphaX;
    float segmentAlphaY;

    const float sensorMountAngle = 0.0;
    //segmentation threshold
    const float segmentTheta = 60.0/180.0*M_PI; // decrese this value may improve accuracy
    //If number of segment is below than 30, check line number. this for minimum number of point for it
    const int   segmentValidPointNum = 5;
    //if number of segment is small, number of line is checked, this is threshold for it.
    const int   segmentValidLineNum = 3;
    

    ImageProjection() {