scene_model.h

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/******************************************************************************
 * \file
 *
 * $Id: sceneModel.h 777 2012-05-11 11:23:17Z ihulik $
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Rostislav Hulik (ihulik@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: 11.01.2012 (version 1.0)
 * 
 * This file 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 file 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 file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef BUT_PLANE_DET_SCENEMODEL_H
#define BUT_PLANE_DET_SCENEMODEL_H

//PCL
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>

#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/io/vtk_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl_ros/point_cloud.h>

// opencv
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc_c.h>

// but_scenemodel
#include <srs_env_model_percp/but_segmentation/normals.h>
#include <srs_env_model_percp/but_plane_detector/parameter_space.h>
#include <srs_env_model_percp/but_plane_detector/parameter_space_hierarchy.h>

//tf
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <tf/tfMessage.h>

namespace srs_env_model_percp
{
        class SceneModel
        {
        public:
                typedef but_plane_detector::Plane<float> tPlane;
                typedef std::vector<tPlane, Eigen::aligned_allocator<tPlane> > tPlanes;

                public:
                SceneModel(     double max_depth = 3.0,
                                        double min_shift = -40.0,
                                        double max_shift = 40.0,
                                        int angle_resolution = 512,
                                        int shift_resolution = 4096,
                                        int gauss_angle_res = 11,
                                        int gauss_shift_res = 11,
                                        double gauss_angle_sigma = 0.04,
                                        double gauss_shift_sigma = 0.15,
                                        int lvl1_gauss_angle_res = 21,
                                        int lvl1_gauss_shift_res = 21,
                                        double lvl1_gauss_angle_sigma = 5.0,
                                        double lvl1_gauss_shift_sigma = 5.0,
                                        double plane_merge_angle = 0.3,
                                        double plane_merge_shift = 0.1);

                void AddNext(cv::Mat &depth, const sensor_msgs::CameraInfoConstPtr& cam_info, but_plane_detector::Normals &normals, double min_current);

                void AddNext(but_plane_detector::Normals &normals, double min_current);

                void clearNoise(double minValue);

                void recomputePlanes(double min_current, double min_global, int blur, int search_neighborhood, double substraction);

                pcl::PointCloud<pcl::PointXYZRGB>::Ptr scene_cloud;

                tPlanes planes;

        public:
                ParameterSpaceHierarchy space;
                ParameterSpaceHierarchy current_space;

                //ParameterSpaceHierarchy cache_space;

                ParameterSpace gauss;
                ParameterSpace gaussPlane;

                int max_plane;

                double indexFactor;

                double m_depth;

                double m_angle_min;
                double m_angle_max;
                double m_shift_min;
                double m_shift_max;
                int m_angle_res;
                int m_shift_res;

                double m_plane_merge_shift;
                double m_plane_merge_angle;
        };
} // but_plane_detector

#endif