target_object_detector.hpp

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#ifndef EUCLIDEAN_CLUSTER_H
#define EUCLIDEAN_CLUSTER_H

#include <fstream>
#include <iostream>
#include <sstream>
#include <string>

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Float32.h>

#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

#include <pcl/ModelCoefficients.h>
#include <pcl/features/moment_of_inertia_estimation.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/approximate_voxel_grid.h>
#include <pcl/filters/crop_box.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/point_types.h>
#include <pcl/registration/ndt.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/impl/transforms.hpp>

#include <opencv/cv.h>
#include <opencv2/imgproc/imgproc.hpp>

#include <jsk_recognition_msgs/BoundingBoxArray.h>

#include "../src/libsvm/svm.h"

using namespace pcl;

class EuclideanCluster {
public:
  EuclideanCluster(ros::NodeHandle nh, ros::NodeHandle n);
  void EuclideanCallback(const sensor_msgs::PointCloud2::ConstPtr &source_pc);
  void CropBox(pcl::PointCloud<pcl::PointXYZI>::Ptr cloud, pcl::PointXYZ min, pcl::PointXYZ max);
  void Clustering(pcl::PointCloud<pcl::PointXYZI>::Ptr cloud);
  void read_scaling_parameters(std::string scaling_parameter_file);
  void normlize_features(svm_node *features);
  void feature_calculation(pcl::PointCloud<pcl::PointXYZI>::Ptr cloud,
                           svm_node *features);
  jsk_recognition_msgs::BoundingBox MinAreaRect(pcl::PointCloud<pcl::PointXYZI>::Ptr cloud, int cluster_cnt);
  void run();
  std::vector<std::string> split(const std::string &s, char delim);

private:
  ros::NodeHandle nh_;
  ros::Rate rate_;
  std::string frame_id_;
  ros::Publisher fileterd_cloud_pub_;
  ros::Publisher euclidean_cluster_pub_;
  ros::Subscriber source_pc_sub_;
  tf::TransformListener tf_;
  tf::TransformBroadcaster br_;

  // Threshold
  double clusterTolerance_;
  int minSize_;
  int maxSize_;

  pcl::PointXYZ crop_min_, crop_max_;

  std::string svm_model_path_;
  std::string svm_range_path_;
  svm_model *model_;
  std::vector<float> feature_max_;
  std::vector<float> feature_min_;
  float feature_lower_;
  float feature_upper_;
};

#endif /* EUCLIDEAN_CLUSTER_H */