PCLObjectDetector.hpp

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#ifndef PCLOBJECTDETECTOR_HPP_
#define PCLOBJECTDETECTOR_HPP_
 
// Pointcloud header
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h> // for downsampling
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/common/impl/centroid.hpp>
#include <pcl/common/common.h>
 
#include "Object.hpp"
 
using pclPtrType = pcl::PointCloud<pcl::PointXYZ>::Ptr;
using pclType    = pcl::PointCloud<pcl::PointXYZ>;
 
#include <iostream>
#include <string>
 
class PCLObjectDetector {
private:
  void passThroughFilter(pclPtrType p_inputCloudPtr, pclPtrType p_outputCloudPtr, float y_min, float y_max);
 
  void downsampling(pclPtrType p_inputCloudPtr, pclPtrType p_outputCloudPtr, float p_leafSize);
 
protected:
  std::string m_name = "none";
 
public:
  int filter_pcl(pclPtrType p_pclPtr, pclPtrType p_cloudFiltered, float p_leafsize, float y_min, float y_max) {
    int ret = 0;
 
    if(p_pclPtr == nullptr) {
      ret = -1;
    } else {
      downsampling(p_pclPtr, p_cloudFiltered, p_leafsize);
 
      passThroughFilter(p_cloudFiltered, p_cloudFiltered, y_min, y_max);
 
      ret = 0;
    }
 
    return ret;
  };
 
  virtual  std::shared_ptr<std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr>> cluster_data(pclPtrType p_pclPtr, std::vector<Object>& p_objectsVecRef, float clusterTolerance, int minClusterSize, int maxClusterSize) const = 0;
 
  std::string get_name(void) {
    return m_name;
  };
};
 
class EuclideanDetector : public PCLObjectDetector {
public:
  EuclideanDetector() {
    m_name = "euclidean detector";
  };
 
  float m_minSizeX = 0.1;
  float m_minSizeY = 0.2;
  float m_minSizeZ = 0.001f;
 
  float m_maxSizeX = 1.f;
  float m_maxSizeY = 1.f;
  float m_maxSizeZ = 1.f;
 
  float m_postProcessingClusterSizeMin = 200;
  float m_postProcessingClusterSizeMax = 2000;
 
  std::shared_ptr<std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr>> cluster_data(pclPtrType p_pclPtr, std::vector<Object>& p_objectsVecRef, float clusterTolerance, int minClusterSize, int maxClusterSize) const;
};
 
#endif /* ifndef PCLOBJECTDETECTOR_HPP_ */