universax

// VLP16.h
// Grabber Instance
boost::shared_ptr<pcl::VLPGrabber> mVlpGrabber;
// Connection instance for open and close
boost::signals2::connection mConnection;
// Save point cloud data into this pointer
pcl::PointCloud<PointType>::ConstPtr mCloud;
// Mutex
boost::mutex mVLPMutex;

universax

void PCLManager::edgeRmoveFilter(pcl::PointCloud<PointType>::Ptr cloud) {
	pcl::PointCloud<PointNormalType>::Ptr normal = createNormals(cloud);

	vector<int> removeIndex;
	for (int i = 0; i < cloud->points.size(); i++)
	{
		if (abs(normal->points[i].normal_x / normal->points[i].normal_z) > 0.1)
		{
			removeIndex.push_back(i);
		}

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// Copy for compute
pcl::PointCloud<PointType>::Ptr calcPoints(new pcl::PointCloud<PointType>());
*calcPoints = *mCloud;

// Filter
float voxelVal = 0.01f; // Set Voxel size to 0.01m
voxelGridFilter(voxelVal, calcPoints);
statisticalOutlierFilter(calcPoints);
passThroughFilter(calcPoints, "x", -2.0, 2.0);  //-2.0m to 2.0m
passThroughFilter(calcPoints, "y", 0.0, 2.0);   //0.0m to 2.0m

universax

// Global or Class member
pcl::visualization::CloudViewer mVlpViewer("VLP");

// at loop routine called every frame.
vlpViewer.showCloud(calcPoints);

universax

#pragma once


enum Edit_Mode {
	Edit_Mode_None = 0,
	Edit_Mode_X,
	Edit_Mode_Y,
	Edit_Mode_Z,
	Edit_Mode_Pitch,
	Edit_Mode_Yaw,

universax

#include "stdafx.h"
#include "Sensor.h"
#include "VisualizerManager.h"

using namespace std;

VisualizerManager::VisualizerManager()
{
	showCloud.reset(new pcl::PointCloud<PointType>());
	viewer.reset(new pcl::visualization::PCLVisualizer("VLP16 Viewer"));

universax

#include "VisualizerManager.h"

// Instance
VisualizerManager visualizer;

// Within looping routine
visualizer.updateVisualizer(calcPoints);

universax

from PIL import Image, ImageDraw, ImageFilter
from pathlib import Path
import random


def getImage(path):
    img = resizeImage(Image.open(path))
    return img

universax

python create_tfrecord.py \
--dataset_dir "/home/user_name/dataset" \
--tfrecord_filename=mymodel \
--validation_size=0.2

universax

find . -name '.DS_Store' -type f -ls -delete