Kyungpyo Kim Kyungpyo-Kim

## example_savePCDFile.cpp
#include <pcl/io/pcd_io.h>

bool Cluster::SaveCluster2Obj(int num)
{
	char char_filename[80];

	sprintf (char_filename, "/home/kyungpyo/pcd_dataset/PCD%06d.pcd" , num);

	std::string str_filename (char_filename);


## recursive_preorder_traversal.cpp
/**
 * Definition for a binary tree node.
 * struct TreeNode {
 *     int val;
 *     TreeNode *left;
 *     TreeNode *right;
 *     TreeNode(int x) : val(x), left(NULL), right(NULL) {}
 * };
 */
class Solution {

## iterative_preorder_traversal.cpp
/**
 * Definition for a binary tree node.
 * struct TreeNode {
 *     int val;
 *     TreeNode *left;
 *     TreeNode *right;
 *     TreeNode(int x) : val(x), left(NULL), right(NULL) {}
 * };
 */
class Solution {

## cloud_cb.cpp
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
#include <pcl_ros/transforms.h>

 void cloud_cb(const boost::shared_ptr<const sensor_msgs::PointCloud2>& input){

    pcl::PCLPointCloud2 pcl_pc2;
    pcl_conversions::toPCL(*input,pcl_pc2);

## pcl_to_ros.cpp
void loam_wrapper::publishInput(pcl::PointCloud<pcl::PointXYZHSV>::Ptr pc)
{
    sensor_msgs::PointCloud2 pc2;
    pcl::toROSMsg(*pc, pc2);
    pc2.header.stamp = ros::Time().now();
    pc2.header.frame_id = "/world";
    publishInput(pc2);
}

/* Reference

## pcl_calibaration.cpp
// calibaration
Eigen::Affine3f PCLTransformationMat(float x, float y, float z, float roll, float pitch, float yaw)
{
    Eigen::Affine3f transformation;
    transformation.setIdentity();

    Eigen::AngleAxisf rollAngle(roll, Eigen::Vector3f::UnitX());
    Eigen::AngleAxisf pitchAngle(pitch, Eigen::Vector3f::UnitY());
    Eigen::AngleAxisf yawAngle(yaw, Eigen::Vector3f::UnitZ());
    Eigen::Quaternion<float> q = rollAngle*pitchAngle*yawAngle;

## pcl_random_sample.cpp
#include <pcl/filters/random_sample.h>

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr track_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

  pcl::RandomSample <pcl::PointXYZRGB> random;

  random.setInputCloud(cloud_);
  random.setSeed (std::rand ());
  random.setSample((unsigned int)(100));

## iterative_inoder_traversal.cpp
/**
 * Definition for a binary tree node.
 * struct TreeNode {
 *     int val;
 *     TreeNode *left;
 *     TreeNode *right;
 *     TreeNode(int x) : val(x), left(NULL), right(NULL) {}
 * };
 */
class Solution {

## iterative_postorder_traversal.cpp
/**
 * Definition for a binary tree node.
 * struct TreeNode {
 *     int val;
 *     TreeNode *left;
 *     TreeNode *right;
 *     TreeNode(int x) : val(x), left(NULL), right(NULL) {}
 * };
 */
class Solution {

## webots_simulation_setup.md

      
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                Webots simulator installation, JOSM installation
              
          
    Webots Installation on Linux

Reference


cyberbotics

Package download and installation


공식 홈페이지 다운로드 주소 https://www.cyberbotics.com/download
	#include <pcl/io/pcd_io.h>

	bool Cluster::SaveCluster2Obj(int num)
	{
	char char_filename[80];

	sprintf (char_filename, "/home/kyungpyo/pcd_dataset/PCD%06d.pcd" , num);

	std::string str_filename (char_filename);
	/**
	* Definition for a binary tree node.
	* struct TreeNode {
	* int val;
	* TreeNode *left;
	* TreeNode *right;
	* TreeNode(int x) : val(x), left(NULL), right(NULL) {}
	* };
	*/
	class Solution {
	#include <pcl_conversions/pcl_conversions.h>
	#include <pcl/point_types.h>
	#include <pcl/PCLPointCloud2.h>
	#include <pcl/conversions.h>
	#include <pcl_ros/transforms.h>

	void cloud_cb(const boost::shared_ptr<const sensor_msgs::PointCloud2>& input){

	pcl::PCLPointCloud2 pcl_pc2;
	pcl_conversions::toPCL(*input,pcl_pc2);
	void loam_wrapper::publishInput(pcl::PointCloud<pcl::PointXYZHSV>::Ptr pc)
	{
	sensor_msgs::PointCloud2 pc2;
	pcl::toROSMsg(*pc, pc2);
	pc2.header.stamp = ros::Time().now();
	pc2.header.frame_id = "/world";
	publishInput(pc2);
	}

	/* Reference
	// calibaration
	Eigen::Affine3f PCLTransformationMat(float x, float y, float z, float roll, float pitch, float yaw)
	{
	Eigen::Affine3f transformation;
	transformation.setIdentity();

	Eigen::AngleAxisf rollAngle(roll, Eigen::Vector3f::UnitX());
	Eigen::AngleAxisf pitchAngle(pitch, Eigen::Vector3f::UnitY());
	Eigen::AngleAxisf yawAngle(yaw, Eigen::Vector3f::UnitZ());
	Eigen::Quaternion<float> q = rollAnglepitchAngleyawAngle;
	#include <pcl/filters/random_sample.h>

	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr track_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

	pcl::RandomSample <pcl::PointXYZRGB> random;

	random.setInputCloud(cloud_);
	random.setSeed (std::rand ());
	random.setSample((unsigned int)(100));