sampling.h

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/*
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 *  Copyright (c) 2014, Andreas ten Pas
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#ifndef SAMPLING_H_
#define SAMPLING_H_

#include "handle_detector/affordances.h"
#include "handle_detector/cylindrical_shell.h"
#include "handle_detector/sampling_visualizer.h"
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>

typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloud;

class Sampling
{
public:
  void setAffordances(Affordances &affordances)
  {
    this->affordances = affordances;
  }
  ;

  void
  initParams(const ros::NodeHandle& node);

  void
  illustrate(const PointCloud::Ptr &cloud, double target_radius);

  std::vector<CylindricalShell>
  searchAffordances(const PointCloud::Ptr &cloud, double target_radius);

private:
  Affordances affordances;
  int num_iterations;
  int num_samples;
  int num_init_samples;
  double prob_rand_samples;
  bool is_visualized;
  int method;

  // standard parameters
  static const int NUM_ITERATIONS;
  static const int NUM_SAMPLES;
  static const int NUM_INIT_SAMPLES;
  static const double PROB_RAND_SAMPLES;
  static const bool VISUALIZE_STEPS;
  static const int METHOD;
};

#endif /* SAMPLING_H_ */