FODDetector.h

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#pragma once
#ifndef _FOD_DETECTOR_H
#define _FOD_DETECTOR_H

#include <Utils.h>

class FODDetector
{
    typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
    typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloudRGB;

public:
    FODDetector(PointCloudRGB::Ptr cloud, double cluster_tolerance, double min_fod_points);

    ~FODDetector(){};

    void setClusterTolerance(double tolerance);

    void setMinFODpoints(double min_fod_points);

    void clusterPossibleFODs();

    void getFODIndices(std::vector<pcl::PointIndices>& fod_indices);

    int fodIndicesToROSMsg(std::vector<sensor_msgs::PointCloud2>& cluster_msg_array);

    int fodIndicesToPointCloud(std::vector<PointCloudRGB::Ptr>& cloud_array);                        

private:
    double cluster_tolerance_;

    double min_cluster_size_;

    PointCloudRGB::Ptr cloud_;

    std::vector<pcl::PointIndices> cluster_indices_;
};

#endif