table_extraction.h

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#ifndef TABLE_EXTRACTION_H_
#define TABLE_EXTRACTION_H_

//##################
//#### includes ####

//standard includes
#include <iostream>
#include <fstream>
#include <sstream>
#include <string>
#include <vector>
#include <math.h>

//PCL includes
#include "pcl/point_types.h"
#include "pcl/common/centroid.h"
#include "pcl/common/eigen.h"

//other includes
#include <Eigen/Core>
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>

#include <cob_3d_mapping_common/polygon.h>

using namespace cob_3d_mapping;

class TableExtraction
{

public:

  TableExtraction () :
      norm_x_min_ (-0.1), norm_x_max_ (0.1), norm_y_min_ (-0.1), norm_y_max_ (0.1), norm_z_min_ (-0.99), norm_z_max_ (
          0.99), height_min_ (0.4), height_max_ (1), area_min_ (1), area_max_ (3)
  {
  }

  ~TableExtraction ()
  {

  }

  void
  setNormalBounds (double tilt_angle)
  {
    static const double PI = 3.1415926;
    double ang_rad = tilt_angle * (PI / 180.0);
    double norm = cos ((PI / 2) - ang_rad);
    norm_x_min_ = -norm;
    norm_x_max_ = norm;
    norm_y_min_ = -norm;
    norm_y_max_ = norm;
    norm_z_min_ = -cos (ang_rad);
    norm_z_max_ = cos (ang_rad);
  }

  void
  setHeightMin (double height_min)
  {
    height_min_ = height_min;
  }

  void
  setHeightMax (double height_max)
  {
    height_max_ = height_max;
  }

  void
  setAreaMin (double area_min)
  {
    area_min_ = area_min;
  }

  void
  setAreaMax (double area_max)
  {
    area_max_ = area_max;
  }

  void
  setInputPolygon (Polygon::Ptr poly_ptr)
  {
    poly_ptr_ = poly_ptr;
  }

  bool
  isTable ();

protected:

  bool
  isHorizontal ();

  bool
  isHeightOk ();

  bool
  isSizeOk ();

  double norm_x_min_; 
  double norm_x_max_; 
  double norm_y_min_; 
  double norm_y_max_; 
  double norm_z_min_; 
  double norm_z_max_; 

  double height_min_; 
  double height_max_; 

  double area_min_; 
  double area_max_; 

  Polygon::Ptr poly_ptr_; 

};

#endif /* TABLE_EXTRACTION_H_ */