Program Listing for File plane_analyzer.hpp

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/*
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#ifndef PLANE_ANALYZER_HPP
#define PLANE_ANALYZER_HPP

#include <math.h>
#include <pcl/common/angles.h>
#include <pcl/common/common.h>
#include <pcl/common/distances.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/shadowpoints.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/surface/convex_hull.h>
#include <pcl_conversions/pcl_conversions.h>

#include <boost/format.hpp>
#include <cmath>
#include <iostream>
#include <pcl/common/impl/io.hpp>
#include <s_graphs/common/plane_utils.hpp>
#include <string>

#include "pcl_ros/transforms.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "std_msgs/msg/color_rgba.hpp"

namespace s_graphs {

typedef pcl::PointXYZI PointT;
typedef pcl::PointXYZRGBNormal PointNormal;

class PlaneAnalyzer {
 public:
  PlaneAnalyzer(rclcpp::Node::SharedPtr node);
  ~PlaneAnalyzer();

 public:
  std::vector<pcl::PointCloud<PointNormal>::Ptr> extract_segmented_planes(
      const pcl::PointCloud<PointT>::ConstPtr cloud);

 private:
  void init_ros(rclcpp::Node::SharedPtr node);

 private:
  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr segmented_cloud_pub;

 private:
  pcl::PointCloud<PointNormal>::Ptr compute_clusters(
      const pcl::PointCloud<PointNormal>::Ptr& extracted_cloud);

  pcl::PointCloud<pcl::Normal>::Ptr compute_cloud_normals(
      const pcl::PointCloud<PointNormal>::Ptr& extracted_cloud);

  pcl::PointCloud<PointNormal>::Ptr shadow_filter(
      const pcl::PointCloud<PointNormal>::Ptr& extracted_cloud,
      pcl::PointCloud<pcl::Normal>::Ptr cloud_normals);

  std_msgs::msg::ColorRGBA rainbow_color_map(double h);

  std_msgs::msg::ColorRGBA random_color();

 private:
  int min_seg_points_;
  int min_horizontal_inliers, min_vertical_inliers;
  bool use_euclidean_filter, use_shadow_filter;
  std::string plane_extraction_frame, plane_visualization_frame;

  bool save_timings;
  std::ofstream time_recorder;
};
}  // namespace s_graphs

#endif  // PLANE_ANALYZER_HPP