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.