ground_plane_comparator.h

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#ifndef PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_
#define PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_

#include <pcl/common/angles.h>
#include <pcl/segmentation/comparator.h>
#include <boost/make_shared.hpp>

namespace pcl
{
  template<typename PointT, typename PointNT>
  class GroundPlaneComparator: public Comparator<PointT>
  {
    public:
      typedef typename Comparator<PointT>::PointCloud PointCloud;
      typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
      
      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
      
      typedef boost::shared_ptr<GroundPlaneComparator<PointT, PointNT> > Ptr;
      typedef boost::shared_ptr<const GroundPlaneComparator<PointT, PointNT> > ConstPtr;

      using pcl::Comparator<PointT>::input_;
      
      GroundPlaneComparator ()
        : normals_ ()
        , plane_coeff_d_ ()
        , angular_threshold_ (cosf (pcl::deg2rad (2.0f)))
        , road_angular_threshold_ ( cosf(pcl::deg2rad (10.0f)))
        , distance_threshold_ (0.1f)
        , depth_dependent_ (true)
        , z_axis_ (Eigen::Vector3f (0.0, 0.0, 1.0) )
        , desired_road_axis_ (Eigen::Vector3f(0.0, -1.0, 0.0))
      {
      }

      GroundPlaneComparator (boost::shared_ptr<std::vector<float> >& plane_coeff_d) 
        : normals_ ()
        , plane_coeff_d_ (plane_coeff_d)
        , angular_threshold_ (cosf (pcl::deg2rad (3.0f)))
        , distance_threshold_ (0.1f)
        , depth_dependent_ (true)
        , z_axis_ (Eigen::Vector3f (0.0f, 0.0f, 1.0f))
        , road_angular_threshold_ ( cosf(pcl::deg2rad (40.0f)))
        , desired_road_axis_ (Eigen::Vector3f(0.0, -1.0, 0.0))
      {
      }
      
      virtual
      ~GroundPlaneComparator ()
      {
      }
      virtual void 
      setInputCloud (const PointCloudConstPtr& cloud)
      {
        input_ = cloud;
      }
      
      inline void
      setInputNormals (const PointCloudNConstPtr &normals)
      {
        normals_ = normals;
      }

      inline PointCloudNConstPtr
      getInputNormals () const
      {
        return (normals_);
      }

      void
      setPlaneCoeffD (boost::shared_ptr<std::vector<float> >& plane_coeff_d)
      {
        plane_coeff_d_ = plane_coeff_d;
      }

      void
      setPlaneCoeffD (std::vector<float>& plane_coeff_d)
      {
        plane_coeff_d_ = boost::make_shared<std::vector<float> >(plane_coeff_d);
      }
      
      const std::vector<float>&
      getPlaneCoeffD () const
      {
        return (plane_coeff_d_);
      }

      virtual void
      setAngularThreshold (float angular_threshold)
      {
        angular_threshold_ = cosf (angular_threshold);
      }

      virtual void
      setGroundAngularThreshold (float angular_threshold)
      {
        road_angular_threshold_ = cosf (angular_threshold);
      }

      void
      setExpectedGroundNormal (Eigen::Vector3f normal)
      {
        desired_road_axis_ = normal;
      }
  
      
      inline float
      getAngularThreshold () const
      {
        return (acosf (angular_threshold_) );
      }

      void
      setDistanceThreshold (float distance_threshold, 
                            bool depth_dependent = false)
      {
        distance_threshold_ = distance_threshold;
        depth_dependent_ = depth_dependent;
      }

      inline float
      getDistanceThreshold () const
      {
        return distance_threshold_;
      }
      
      virtual bool
      compare (int idx1, int idx2) const
      {
        // Normal must be similar to neighbor
        // Normal must be similar to expected normal
        float threshold = distance_threshold_;
        if (depth_dependent_)
        {
          Eigen::Vector3f vec = input_->points[idx1].getVector3fMap ();
          
          float z = vec.dot (z_axis_);
          threshold *= z * z;
        }

        return ( (normals_->points[idx1].getNormalVector3fMap ().dot (desired_road_axis_) > road_angular_threshold_) &&
                 (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ ));
        
        // Euclidean proximity of neighbors does not seem to be required -- pixel adjacency handles this well enough 
        //return ( (normals_->points[idx1].getNormalVector3fMap ().dot (desired_road_axis_) > road_angular_threshold_) &&
        //          (normals_->points[idx1].getNormalVector3fMap ().dot (normals_->points[idx2].getNormalVector3fMap () ) > angular_threshold_ ) &&
        //         (pcl::euclideanDistance (input_->points[idx1], input_->points[idx2]) < distance_threshold_ ));
      }
      
    protected:
      PointCloudNConstPtr normals_;
      boost::shared_ptr<std::vector<float> > plane_coeff_d_;
      float angular_threshold_;
      float road_angular_threshold_;
      float distance_threshold_;
      bool depth_dependent_;
      Eigen::Vector3f z_axis_;
      Eigen::Vector3f desired_road_axis_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif // PCL_SEGMENTATION_GROUND_PLANE_COMPARATOR_H_