curvature_classifier.h

Go to the documentation of this file.

#ifndef COB_3D_MAPPING_FEATURES_CURVATURE_CLASSIFIER_H_
#define COB_3D_MAPPING_FEATURES_CURVATURE_CLASSIFIER_H_

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include "cob_3d_mapping_common/label_defines.h"

namespace cob_3d_features
{
  template<typename PointInT, typename PointOutT> class CurvatureClassifier : public pcl::PCLBase<PointInT>
  {
  public:
    using pcl::PCLBase<PointInT>::input_;
    using pcl::PCLBase<PointInT>::indices_;
    using pcl::PCLBase<PointInT>::initCompute;

    typedef pcl::PointCloud<PointInT> PointCloudIn;
    typedef typename PointCloudIn::Ptr PointCloudInPtr;
    typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

    typedef pcl::PointCloud<PointOutT> PointCloudOut;
    typedef typename PointCloudOut::Ptr PointCloudOutPtr;
    typedef typename PointCloudOut::ConstPtr PointCloudOutConstPtr;

    CurvatureClassifier() :
      c_upper_(0.11),
      c_lower_(0.02),
      c_ratio_cylinder_sphere_(7.0),
      c_ratio_edge_corner_(2.75)
    {}
    ~CurvatureClassifier() {}

    void setUpperThreshold (const float &threshold)
    {
      c_upper_ = threshold;
    }

    void setLowerThreshold (const float &threshold)
    {
      c_lower_ = threshold;
    }

    void setMaxMinRatio (const float &ratio)
    {
      c_ratio_cylinder_sphere_ = ratio;
    }

    void classify(PointCloudOut &output);

    void classifyForSegmentation(PointCloudOut &output);

  protected:
    //virtual inline bool
    //  initCompute();

    float c_upper_; //everything above is edge
    float c_lower_; //everything below is plane
    float c_ratio_cylinder_sphere_; //max min ratio to differentiate between cylinder and sphere
    float c_ratio_edge_corner_; //max min ratio to differentiate between edge and corner

  };
}

#endif