lidar_segmentation: /home/laradmin/lar/perception/planarobstacles/lidar_segmentation/src/clustering.h Source File

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00033 #ifndef _COIMBRA_CLUSTERING_H_
00034 #define _COIMBRA_CLUSTERING_H_
00035 
00036 #include <vector>
00037 #include "geometry_msgs/Point.h"
00038 #include "sensor_msgs/LaserScan.h"
00039 
00040 using namespace std;
00041 
00042 class Point;
00043 typedef boost::shared_ptr<Point> PointPtr;
00044 
00045 
00054 class Cluster
00055 {
00056 public:
00057         int id;                                                 
00059         PointPtr centroid;                              
00061         PointPtr central_point;                 
00063         vector<double> ranges;             
00065         vector<PointPtr> support_points;        
00066 };
00067 
00068 
00069 //Shared pointer to the Cluster class
00070 typedef boost::shared_ptr<Cluster> ClusterPtr;
00071 
00072 /* Clustering functions */
00073 
00082 int simpleClustering(vector<PointPtr>& points, double threshold, vector<ClusterPtr>& clusters);
00083 
00092 int dietmayerClustering( vector<PointPtr>& points, double C0 ,vector<ClusterPtr>& clusters_Dietmayer);
00093 
00102 int premebidaClustering( vector<PointPtr>& points, double threshold_prem , vector<ClusterPtr>& clusters_Premebida);
00103 
00112 int abdClustering( vector<PointPtr>& points , double lambda ,vector<ClusterPtr>& clusters_ABD);
00113 
00122 int nnClustering( vector<PointPtr>& points, double threshold , vector<ClusterPtr>& clusters_nn);
00123 
00133 int santosClustering( vector<PointPtr>& points, double C0, double beta, vector<ClusterPtr>& clusters_Santos);
00134 
00145 vector<double>  rangeFeatures( double range1, double range2, PointPtr range1cart, PointPtr range2cart);
00146 
00154 double cosineDistance(vector<double>& vect1, vector<double>& vect2);
00155 
00162 double deg2rad(double angle);
00163 
00164 
00171 PointPtr calculateClusterCentroid( vector<PointPtr> support_points );
00172 
00179 PointPtr calculateClusterMedian(vector<PointPtr> support_points);
00180 
00181 #endif