organized_multi_plane_segmentation.h

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 * $Id: organized_multi_plane_segmentation.h 5494 2012-04-04 02:12:25Z rusu $
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#ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_
#define PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_

#include <pcl/segmentation/planar_region.h>
#include <pcl/pcl_base.h>
#include <pcl/common/angles.h>
#include <pcl/PointIndices.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/segmentation/plane_coefficient_comparator.h>
#include <pcl/segmentation/plane_refinement_comparator.h>

namespace pcl
{
  template<typename PointT, typename PointNT, typename PointLT>
  class OrganizedMultiPlaneSegmentation : public PCLBase<PointT>
  {
    using PCLBase<PointT>::input_;
    using PCLBase<PointT>::indices_;
    using PCLBase<PointT>::initCompute;
    using PCLBase<PointT>::deinitCompute;

    public:
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

      typedef typename pcl::PointCloud<PointLT> PointCloudL;
      typedef typename PointCloudL::Ptr PointCloudLPtr;
      typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

      typedef typename pcl::PlaneCoefficientComparator<PointT, PointNT> PlaneComparator;
      typedef typename PlaneComparator::Ptr PlaneComparatorPtr;
      typedef typename PlaneComparator::ConstPtr PlaneComparatorConstPtr;

      typedef typename pcl::PlaneRefinementComparator<PointT, PointNT, PointLT> PlaneRefinementComparator;
      typedef typename PlaneRefinementComparator::Ptr PlaneRefinementComparatorPtr;
      typedef typename PlaneRefinementComparator::ConstPtr PlaneRefinementComparatorConstPtr;

      OrganizedMultiPlaneSegmentation () :
        normals_ (), 
        min_inliers_ (1000), 
        angular_threshold_ (pcl::deg2rad (3.0)), 
        distance_threshold_ (0.02),
        maximum_curvature_ (0.001),
        project_points_ (false), 
        compare_ (new PlaneComparator ()), refinement_compare_ (new PlaneRefinementComparator ())
      {
      }

      virtual
      ~OrganizedMultiPlaneSegmentation ()
      {
      }

      inline void
      setInputNormals (const PointCloudNConstPtr &normals) 
      {
        normals_ = normals;
      }

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

      inline void
      setMinInliers (unsigned min_inliers)
      {
        min_inliers_ = min_inliers;
      }

      inline unsigned
      getMinInliers () const
      {
        return (min_inliers_);
      }

      inline void
      setAngularThreshold (double angular_threshold)
      {
        angular_threshold_ = angular_threshold;
      }

      inline double
      getAngularThreshold () const
      {
        return (angular_threshold_);
      }

      inline void
      setDistanceThreshold (double distance_threshold)
      {
        distance_threshold_ = distance_threshold;
      }

      inline double
      getDistanceThreshold () const
      {
        return (distance_threshold_);
      }

      inline void
      setMaximumCurvature (double maximum_curvature)
      {
        maximum_curvature_ = maximum_curvature;
      }

      inline double
      getMaximumCurvature () const
      {
        return (maximum_curvature_);
      }

      void
      setComparator (const PlaneComparatorPtr& compare)
      {
        compare_ = compare;
      }

      void
      setRefinementComparator (const PlaneRefinementComparatorPtr& compare)
      {
        refinement_compare_ = compare;
      }

      void
      setProjectPoints (bool project_points)
      {
        project_points_ = project_points;
      }

      void
      segment (std::vector<ModelCoefficients>& model_coefficients, 
               std::vector<PointIndices>& inlier_indices,
               std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
               std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
               pcl::PointCloud<PointLT>& labels, 
               std::vector<pcl::PointIndices>& label_indices);

      void
      segment (std::vector<ModelCoefficients>& model_coefficients, 
               std::vector<PointIndices>& inlier_indices);

      void
      segment (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
      
      void
      segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);

      void
      segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions,
                        std::vector<ModelCoefficients>& model_coefficients,
                        std::vector<PointIndices>& inlier_indices,
                        PointCloudLPtr& labels,
                        std::vector<pcl::PointIndices>& label_indices,
                        std::vector<pcl::PointIndices>& boundary_indices);
      
      void
      refine (std::vector<ModelCoefficients>& model_coefficients, 
              std::vector<PointIndices>& inlier_indices,
              std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
              std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
              PointCloudLPtr& labels,
              std::vector<pcl::PointIndices>& label_indices);

    protected:

      PointCloudNConstPtr normals_;

      unsigned min_inliers_;

      double angular_threshold_;

      double distance_threshold_;

      double maximum_curvature_;

      bool project_points_;

      PlaneComparatorPtr compare_;

      PlaneRefinementComparatorPtr refinement_compare_;

      virtual std::string
      getClassName () const
      {
        return ("OrganizedMultiPlaneSegmentation");
      }
  };

}

#endif //#ifndef PCL_SEGMENTATION_ORGANIZED_MULTI_PLANE_SEGMENTATION_H_