segmentation.h

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#ifndef _SURFACE_PERCEPTION_SEGMENTATION_H_
#define _SURFACE_PERCEPTION_SEGMENTATION_H_

#include <vector>

#include "pcl/PointIndices.h"
#include "pcl/point_cloud.h"
#include "pcl/point_types.h"

#include "surface_perception/surface.h"
#include "surface_perception/surface_objects.h"

namespace surface_perception {
class Segmentation {
 public:
  Segmentation();

  void set_input_cloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud);

  void set_indices(pcl::PointIndicesPtr indices);

  void set_horizontal_tolerance_degrees(double degrees);

  void set_margin_above_surface(double margin);

  void set_cluster_distance(double cluster_distance);

  void set_min_cluster_size(int min_cluster_size);

  void set_max_cluster_size(int max_cluster_size);

  void set_min_surface_size(int min_surface_size);

  void set_min_surface_exploration_iteration(
      int min_surface_exploration_iteration);

  void set_max_point_distance(double max_point_distance);

  bool Segment(std::vector<SurfaceObjects>* surfaces) const;

 private:
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_;
  pcl::PointIndicesPtr indices_;

  double horizontal_tolerance_degrees_;
  double margin_above_surface_;
  double cluster_distance_;
  double max_point_distance_;
  int min_cluster_size_;
  int max_cluster_size_;
  int min_surface_size_;
  int min_surface_exploration_iteration_;
};

bool FindSurfaces(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud,
                  pcl::PointIndicesPtr indices, double max_point_distance,
                  double horizontal_tolerance_degrees, int min_surface_size,
                  int min_surface_exploration_iteration,
                  std::vector<Surface>* surfaces);

bool GetSceneAboveSurface(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud,
                          pcl::PointIndicesPtr indices,
                          const pcl::ModelCoefficients& coefficients,
                          double margin_above_surface, float height_limit,
                          pcl::PointIndices::Ptr above_surface_indices);

bool FindObjectsOnSurfaces(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud,
                           pcl::PointIndicesPtr indices,
                           const std::vector<Surface>& surface_vec,
                           double margin_above_surface, double cluster_distance,
                           int min_cluster_size, int max_cluster_size,
                           std::vector<SurfaceObjects>* surfaces_objects_vec);
}  // namespace surface_perception

#endif  // _SURFACE_PERCEPTION_SEGMENTATION_H_