HOUGH_LINE.h
//HOUGH_LINE.h文件
#pragma once
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <iostream>
#include <pcl/common/common.h>
#include <pcl/visualization/pcl_plotter.h>
#include <pcl/filters/voxel_grid.h>
#include <queue>
using namespace pcl;
using namespace Eigen;
using namespace std;
typedef PointXYZ PointT;//定义一种新的数据类型
class HOUGH_LINE//类
{
public:
HOUGH_LINE();
~HOUGH_LINE();//析构函数
template<typename T> void vector_sort(std::vector<T> vector_input, std::vector<size_t> &idx);//函数模板
inline void setinputpoint(PointCloud<PointT>::Ptr point_);//内联函数
void VoxelGrid_(float size_, PointCloud<PointT>::Ptr &voxel_cloud);//降采样
void draw_hough_spacing();//自定义函数
void HOUGH_line(int x_setp_num, double y_resolution, int grid_point_number_threshold, vector<float>&K_, vector<float>&B_, int line_num &