plane_segmentation_pcl_rgb_alg.h

Go to the documentation of this file.

// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author David Martínez
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _plane_segmentation_pcl_rgb_alg_h_
#define _plane_segmentation_pcl_rgb_alg_h_

#include <iri_plane_segmentation_pcl_rgb/PlaneSegmentationPclRgbConfig.h>
#include "mutex.h"

//include plane_segmentation_pcl_rgb_alg main library
// Pointclouds
#include <pcl/point_cloud.h>

// segmentation
#include <pcl/io/pcd_io.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/filters/extract_indices.h>

// Segmentation
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/surface/convex_hull.h>

// clustering
#include <pcl/segmentation/extract_clusters.h>
//#include <pcl/kdtree/kdtree_flann.h>

// downsampling
#include <pcl/filters/voxel_grid.h>

// crop
#include <pcl/filters/passthrough.h>


class PlaneSegmentationPclRgbAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
  private:
    // downsampling
    bool pointcloud_downsample;
    double pointcloud_downsample_size;
    
    // distances
    bool choose_plane_by_distance;
    bool choose_nearest_plane;
    
    // segmentation values (in cm)
    double plane_size_thresh;
    double plane_min_height;
    double plane_max_height;
    int plane_segm_iterations;
    double plane_segm_probability;
    
    // clustering
    bool plane_clustering;
    int plane_min_cluster_size;
    double plane_min_cluster_distance;
    
    
    

  public:
    typedef iri_plane_segmentation_pcl_rgb::PlaneSegmentationPclRgbConfig Config;

    Config config_;

    PlaneSegmentationPclRgbAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all plane_segmentation_pcl_rgb_alg interface methods to retrieve and set
    // the driver parameters

    ~PlaneSegmentationPclRgbAlgorithm(void);
    
    
    // Other methods
    
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr segmentBiggestPlane (pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_rgb_orig, 
                                                            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_orig,
                                                            pcl::ModelCoefficients::Ptr coefficients);


    void getBiggestPlaneInliersDownsampling(pcl::PointIndices::Ptr inliers,
                                            pcl::ModelCoefficients::Ptr coefficients,
                                            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);

    void getBiggestPlaneInliers(pcl::PointIndices::Ptr inliers,
                                pcl::ModelCoefficients::Ptr coefficients,
                                pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);

    void getNearestBigPlaneInliers(pcl::PointIndices::Ptr inliers,
                                                                 pcl::ModelCoefficients::Ptr coefficients,
                                                                 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_orig);
    
    pcl::PointCloud<pcl::PointXYZ>::Ptr getBiggestClusterPC (pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_orig);
    
    void fixPlaneCoefficientsOrientation(pcl::ModelCoefficients::Ptr coefs);
    
    
    // WARNING copied from newer PCL libs. Remove when it's available
   inline double
   pointToPlaneDistance (const pcl::PointXYZ &p, const std::vector< float > &plane_coefficients)
   {
     return ( fabs (pointToPlaneDistanceSigned (p, plane_coefficients)) );
   }
   
   inline double
   pointToPlaneDistanceSigned (const pcl::PointXYZ &p, const std::vector< float > &plane_coefficients)
   {
     return ( plane_coefficients[0] * p.x + plane_coefficients[1] * p.y + plane_coefficients[2] * p.z + plane_coefficients[3] );
   }
};

#endif