tonylitianyu / camera_lidar_fusion Goto Github PK

vector<int> distancePoints = points;  //input point data vector;
int numberOfPoint = 1080;
for(int i = 0; i < numberOfPoint; i++){
    //cout << i<< "th " << distancePoints[i] << endl; //print data for each of 1080 point;
}


//calculate useful data range from Lidar for the camera since they have different angle.

double pointsPerDegree = numberOfPoint/lAngle;

double removeDegree = (lAngle - cAngle)/2; //needs to remove most right and most left
double removePoints = removeDegree * pointsPerDegree;

vector<int> CLFusionPoint;

//decide which Lidar data point will be on the camera, filter out the data.
for (int i = int(removePoints) + 1; i < **(numberOfPoint - int(removePoints))**; i++)

}

return CLFusionPoint;