【激光雷达点云障碍物检测】environment.cpp 主函数

主函数

#include "lidar.h"
#include "render.h"
#include "processPointClouds.h"
// using templates for processPointClouds so also include .cpp to help linker
#include "processPointClouds.cpp"
using namespace lidar_obstacle_detection;

std::vector<Car> initHighway(bool renderScene, pcl::visualization::PCLVisualizer::Ptr &viewer) {

	Car egoCar(Vect3(0, 0, 0), Vect3(4, 2, 2), Color(0, 1, 0), "egoCar");
	Car car1(Vect3(15, 0, 0), Vect3(4, 2, 2), Color(0, 0, 1), "car1");
	Car car2(Vect3(8, -4, 0), Vect3(4, 2, 2), Color(0, 0, 1), "car2");
	Car car3(Vect3(-12, 4, 0), Vect3(4, 2, 2), Color(0, 0, 1), "car3");

	std::vector<Car> cars;
	cars.push_back(egoCar);
	cars.push_back(car1);
	cars.push_back(car2);
	cars.push_back(car3);

	if (renderScene) {
		renderHighway(viewer);
		egoCar.render(viewer);
		car1.render(viewer);
		car2.render(viewer);
		car3.render(viewer);
	}

	return cars;
}

// Test load pcd
//void cityBlock(pcl::visualization::PCLVisualizer::Ptr& viewer){
//    ProcessPointClouds<pcl::PointXYZI>pointProcessor;
//    pcl::PointCloud<pcl::PointXYZI>::Ptr inputCloud = pointProcessor.loadPcd("../src/sensors/data/pcd/data_1/0000000000.pcd");
//    renderPointCloud(viewer,inputCloud,"cloud");
//}

// Initialize the simple Highway

// Test read Lidar data
void cityBlock(pcl::visualization::PCLVisualizer::Ptr &viewer, ProcessPointClouds<pcl::PointXYZI> *pointProcessorI,const pcl::PointCloud<pcl::PointXYZ