#include?“euclidean_cluster_core.h“

EuClusterCore::EuClusterCore（ros::NodeHandle?&nh）
{

????seg_distance_?=?{15?30?45?60};
????cluster_distance_?=?{0.5?1.0?1.5?2.0?2.5};
????sub_point_cloud_?=?nh.subscribe（“/filtered_points_no_ground“?5?&EuClusterCore::point_cb?this）;

????pub_bounding_boxs_?=?nh.advertise（“/detected_bounding_boxs“?5）;

????ros::spin（）;
}

EuClusterCore::~EuClusterCore（）?{}

void?EuClusterCore::publish_cloud（const?ros::Publisher?&in_publisher
??????????????????????????????????const?pcl::PointCloud::Ptr?in_cloud_to_publish_ptr
??????????????????????????????????const?std_msgs::Header?&in_header）
{
????sensor_msgs::PointCloud2?cloud_msg;
????pcl::toROSMsg（*in_cloud_to_publish_ptr?cloud_msg）;
????cloud_msg.header?=?in_header;
????in_publisher.publish（cloud_msg）;
}

void?EuClusterCore::voxel_grid_filer（pcl::PointCloud::Ptr?in?pcl::PointCloud::Ptr?out?double?leaf_size）
{
????pcl::VoxelGrid?filter;
????filter.setInputCloud（in）;
????filter.setLeafSize（leaf_size?leaf_size?leaf_size）;
????filter.filter（*out）;
}

void?EuClusterCore::cluster_segment（pcl::PointCloud::Ptr?in_pc
????????????????????????????????????double?in_max_cluster_distance?std::vector?&obj_list）
{

????pcl::search::KdTree::Ptr?tree（new?pcl::search::KdTree）;

????//create?2d?pc
????pcl::PointCloud::Ptr?cloud_2d（new?pcl::PointCloud）;
????pcl::copyPointCloud（*in_pc?*cloud_2d）;
????//make?it?flat
????for?（size_t?i?=?0;?i?points.size（）;?i++）
????{
????????cloud_2d->points[i].z?=?0;
????}

????if?（cloud_2d->points.size（）?>?0）
????????tree->setInputCloud（cloud_2d）;

????std::vector?local_indices;

????pcl::EuclideanClusterExtraction?euclid;
????euclid.setInputCloud（cloud_2d）;
????euclid.setClusterTolerance（in_max_cluster_distance）;
????euclid.setMinClusterSize（MIN_CLUSTER_SIZE）;
????euclid.setMaxClusterSize（MAX_CLUSTER_SIZE）;
????euclid.setSearchMethod（tree）;
????euclid.extract（local_indices）;

????for?（size_t?i?=?0;?i?????{
????????//?the?structure?to?save?one?detected?object
????????Detected_Obj?obj_info;

????????float?min_x?=?std::numeric_limits::max（）;
????????float?max_x?=?-std::numeric_limits::max（）;
????????float?min_y?=?std::numeric_limits::max（）;
????????float?max_y?=?-std::numeric_limits::max（）;
????????float?min_z?=?std::numeric_limits::max（）;
????????float?max_z?=?-std::numeric_limits::max（）;

????????for?（auto?pit?=?local_indices[i].indices.begin（）;?pit?!=?local_indices[i].indices.end（）;?++pit）
????????{
????????????//fill?new?colored?cluster?point?by?point
????????????pcl::PointXYZ?p;
????????????p.x?=?in_pc->points[*pit].x;
????????????p.y?=?in_pc->points[*pit].y;
????????????p.z?=?in_pc->points[*pit].z;

????????????obj_info.centroid_.x?+=?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-10-08?08:18??euclidean_cluster\
?????文件?????????130??2018-10-08?08:18??euclidean_cluster\euclidean_cluster.launch
?????文件?????????630??2018-10-10?09:14??euclidean_cluster\CMakeLists.txt
?????文件?????????703??2018-10-10?09:15??euclidean_cluster\package.xml
?????目錄???????????0??2018-10-10?13:23??euclidean_cluster\.git\
?????文件?????????845??2018-10-08?08:09??euclidean_cluster\.git\index
?????文件??????????17??2018-09-29?12:40??euclidean_cluster\.git\COMMIT_EDITMSG
?????文件?????????276??2018-09-29?12:41??euclidean_cluster\.git\config
?????文件???????????0??2018-09-29?12:39??euclidean_cluster\.git\FETCH_HEAD
?????文件??????????23??2018-09-29?12:33??euclidean_cluster\.git\HEAD
?????文件??????????73??2018-09-29?12:33??euclidean_cluster\.git\description
?????目錄???????????0??2018-10-08?08:11??euclidean_cluster\include\
?????文件????????2035??2018-10-10?12:13??euclidean_cluster\include\euclidean_cluster_core.h
?????目錄???????????0??2018-10-08?08:11??euclidean_cluster\src\
?????文件????????7853??2018-10-10?13:23??euclidean_cluster\src\euclidean_cluster_core.cpp
?????文件?????????226??2018-10-08?08:21??euclidean_cluster\src\euclidean_cluster_node.cpp
?????目錄???????????0??2018-09-25?08:16??euclidean_cluster\.vscode\
?????文件?????????766??2018-09-25?08:16??euclidean_cluster\.vscode\c_cpp_properties.json
?????文件?????????170??2018-09-25?08:16??euclidean_cluster\.vscode\settings.json
?????目錄???????????0??2018-09-29?12:41??euclidean_cluster\.git\refs\
?????目錄???????????0??2018-09-29?12:40??euclidean_cluster\.git\logs\
?????文件?????????165??2018-09-29?12:40??euclidean_cluster\.git\logs\HEAD
?????目錄???????????0??2018-09-29?12:40??euclidean_cluster\.git\objects\
?????目錄???????????0??2018-09-29?12:33??euclidean_cluster\.git\branches\
?????目錄???????????0??2018-09-29?12:33??euclidean_cluster\.git\info\
?????文件?????????240??2018-09-29?12:33??euclidean_cluster\.git\info\exclude
?????目錄???????????0??2018-09-29?12:33??euclidean_cluster\.git\hooks\
?????文件?????????896??2018-09-29?12:33??euclidean_cluster\.git\hooks\commit-msg.sample
?????文件????????1348??2018-09-29?12:33??euclidean_cluster\.git\hooks\pre-push.sample
?????文件?????????424??2018-09-29?12:33??euclidean_cluster\.git\hooks\pre-applypatch.sample
?????文件????????3610??2018-09-29?12:33??euclidean_cluster\.git\hooks\update.sample
............此處省略45個文件信息