structure_extraction.h

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#ifndef STRUCTURE_EXTRACTION_H_
#define STRUCTURE_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 StructureExtraction
{

public:

  StructureExtraction () :
      floor_height_ (0.2), ceiling_height_ (2.2)
  {
  }

  ~StructureExtraction ()
  {

  }

  void
  setFloorHeight (double height)
  {
    floor_height_ = height;
  }

  void
  setCeilingHeight (double height)
  {
    ceiling_height_ = height;
  }

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

  bool
  classify (unsigned int& label);

protected:
  bool
  isWall ();

  bool
  isFloor ();

  bool
  isCeiling ();

  double floor_height_; 
  double ceiling_height_; 

  Polygon::Ptr poly_ptr_; 

};

#endif /* STRUCTURE_EXTRACTION_H_ */