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common_lib

　The common library for other Lidar Perception packages.

Functions list

Tools

  • Self-defined types, more.
    • PCL convenient structures, more.
    • Parameters (yaml) structures, more.
    • Constructed Object structure, more.
  • Compare and display functions, more.
  • Timer helper class, run-time statistics, more.
  • Point Cloud, Point, Object, etc, 3D Transform helping functions, more.
  • Compute 3D geometry information, more.
  • ROS Parameters (in yaml) loading functions, more.
  • ROS rviz processing results publisher, more.
  • 2D & 3D bounding box process functions, more.
  • Colors defined for rviz visualization, more.

Algorithms

  • A high-performance 2D surface::ConvexHull for Point Cloud, more.
  • Graph Algorithms, more.
  • Google's Hungarian Optimizer, more.