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2017Q1.pointcloud.distance histogram #150

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2017Q1.pointcloud.distance histogram #150

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39193d4
Export distance histogram from a recording containing CPC
HangYin2015 Jan 21, 2017
5b49fe9
Send a single frame as SPC, CPC, or both from odcomparepointcloud
HangYin2015 Jan 24, 2017
f972fd4
Fix an error while reading CPC with lower bits for intensity
HangYin2015 Jan 25, 2017
630e4d5
Remove the limitation of maximum 3000 frames for distance histogram g…
HangYin2015 Jan 26, 2017
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19 changes: 14 additions & 5 deletions odtools/odcomparepointcloud/include/ComparePointCloudModule.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#ifndef COMPAREPOINTCLOUDMODULE_H_
#define COMPAREPOINTCLOUDMODULE_H_

#include <cmath>
#include <vector>
#include <memory>
#include <fstream>
Expand Down Expand Up @@ -76,9 +77,9 @@ namespace odcomparepointcloud {
private:
virtual void setUp();
virtual void tearDown();
//void parseAdditionalCommandLineParameters(const int &argc, char **argv);
void readCPC(odcore::data::Container&, const uint8_t &);
void readSPC(odcore::data::Container&);
int16_t distanceStatistics(odcore::data::Container &);
void readCPC(odcore::data::Container &, const uint8_t &);
void readSPC(odcore::data::Container &);
inline void clearVectors(const uint8_t &, const bool &);
private:
bool m_CPCfound;
Expand Down Expand Up @@ -114,10 +115,18 @@ namespace odcomparepointcloud {
uint16_t m_16SortedDistances[16];
std::string m_recordingFile;
bool m_allFrames;
bool m_distanceHistogram;
uint64_t m_chosenFrame;
uint8_t m_sendPointCloudOption; //0: send SPC only; 1: send CPC only; 2: send both
uint64_t m_currentFrame;
//const float START_V_ANGLE = -15.0;//For each azimuth there are 16 points with unique vertical angles from -15 to 15 degrees
//const float V_INCREMENT = 2.0; //The vertical angle increment for the 16 points with the same azimuth is 2 degrees
const float m_toRadian = static_cast< float >(M_PI) / 180.0f;

const uint16_t m_MIN_DISTANCE = 500; //resolution 2mm
const uint16_t m_STEP = 100; //20cm
//There are (50000-500)/100=495 distance intervals from 1m (500 * 2mm) to 100m (50000 * 2mm) with step 100 (20cm)
const uint16_t m_MAX_INDEX = 494;
uint64_t m_distanceIntervals[495];//count the number of distance values in each interval

};

} // odcomparepointcloud
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