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#ifndef _NAVIGABILITY_MAP_H_
#define _NAVIGABILITY_MAP_H_

#include <stdio.h>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <boost/shared_ptr.hpp>
#include <iostream> 
#include <Eigen/Core>

#include <algorithm>
#include <stdlib.h>
#include <math.h>

//PCL
#include <pcl_ros/transforms.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/io/pcd_io.h>
#include <pcl/surface/gp3.h>
#include <pcl/filters/passthrough.h>
//
#include <vector>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <colormap/colormap.h>

//opencv
#include <cv.h>                 // open cv general include file
#include <highgui.h>    // open cv GUI include file
#include <iostream>             // standard C++ I/O

using namespace Eigen;
using namespace std;

class grid_node
{
        public:

                MatrixXd Matrix_Points;
                
                MatrixXd Angles;
                
                bool has_normal;
                
                double med_angle_X;
                
                double med_angle_Y;
                
                double med_angle_Z;
                
                int num_points;
                
                double Zmed;
                
                double Standard_Deviation_Z;
                
                double Z_confidence;
                                
                double angle_confidence_x;
                
                double angle_confidence_y;
                
                double angle_confidence_z;
                
                bool interpolate_z_data;
                
                bool interpolate_normal_data;
                
                std::vector<double> z_difference_neighbours;
                
                std::vector<double> z_confidence_neighbours;
                
                std::vector<double> angleX_difference_neighbours;
                
                std::vector<double> angleY_difference_neighbours;
                
                std::vector<double> angleZ_difference_neighbours;
                
                std::vector<double> angleX_confidence_neighbours;
                
                std::vector<double> angleY_confidence_neighbours;
                
                std::vector<double> angleZ_confidence_neighbours;
                
                std::vector<bool> has_fulldata_direction; //N,NE,E,SE,S,SW,W,NW /only for cell fully data
                
                double z_accessibility;
                
                double angleX_accessibility;
                
                double angleY_accessibility;
                
                double angleZ_accessibility;
                
                double total_accessibility;
                

                grid_node()
                {                       
                        
                        z_accessibility=0;
                        
                        angleX_accessibility=0;
                        angleY_accessibility=0;
                        angleZ_accessibility=0;
                        
                        total_accessibility=0;

                        interpolate_z_data=false;
                        interpolate_normal_data=false;
                        has_normal=false;
                        Z_confidence=0;
        
                        angle_confidence_x=0;
                        angle_confidence_y=0;
                        angle_confidence_z=0;
                        
                        num_points=0;           
                        Zmed=-1000;
                }
                
                ~grid_node()
                {}
                
        private:
        
};

//stores a pointer to a dynamically allocated object
typedef boost::shared_ptr<grid_node> grid_nodePtr;

//stores a pointer to a dynamically allocated object
typedef Matrix<grid_nodePtr, Dynamic, Dynamic> Grid;



class Navigability_Map
{
        public:

                pcl::PointCloud<pcl::Normal>::Ptr normals;
                
                double Xmin_filter;
                
                double Xmax_filter;
                
                double Ymin_filter;
                
                double Ymax_filter;
                
                double Zmax_filter;
                
                double Zmin_filter;
                
                double Radius_neighbors;
                
                int K_neighbors;
                
                int Use_Radius_Search;
                
                int colorrange;

                Grid grid;
                
                double Sx;
                
                double Sy;
                
                int total_row;
                
                int total_col;
                
                double default_confidence;
                
                double fator_confidence_neighbour_limit;
                
                int CARaxis_col;
                
                double Zmax_heigh_difference;
                
                double Standard_Deviation_max;
                
                double angleX_max_difference;
                
                double angleY_max_difference;
                
                double angleZ_max_difference;

                double Standard_Deviation_anglex_max_confidence;
                
                double Standard_Deviation_angley_max_confidence;
                
                double Standard_Deviation_anglez_max_confidence;

                int debug_accessibility;

                
                std::vector<geometry_msgs::Point> polygon_points;
                std::vector<geometry_msgs::Point> obstacle_points;
                std::vector<cv::Point2f> xy_polygon;
                std::vector<cv::Point2f> obstacle_polygon;
                
                MatrixXd Matrix_Cell_inpolygon_rowcol;
                MatrixXd Matrix_obstacle_inpolygon_rowcol;
                
                Navigability_Map()
                {
                        debug_accessibility=1;
                        default_confidence=0.5;
                        fator_confidence_neighbour_limit=1.5;
                        
                        Zmax_heigh_difference=0.1;
                        Standard_Deviation_max=0.2;
                        
                        angleX_max_difference=0.1;
                        angleY_max_difference=0.1;
                        angleZ_max_difference=0.1;
                        Standard_Deviation_anglex_max_confidence=0.2;
                        Standard_Deviation_angley_max_confidence=0.2;
                        Standard_Deviation_anglez_max_confidence=0.2;
                        
                        Radius_neighbors=0.4;
                        K_neighbors=10;
                        Use_Radius_Search=1;
                        
                        Xmin_filter=0;
                        Xmax_filter=22.5;
                        Ymin_filter=-22.5;
                        Ymax_filter=22.5;
                        Zmax_filter=2;
                        Zmin_filter=-15;
                        
                        Sx=0.2;
                        Sy=0.2;
                        colorrange=64;
                }
                
                ~Navigability_Map()
                {}
                
                void Filter_PointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in,pcl::PointCloud<pcl::PointXYZ>::Ptr &pc_filter);
                
                void Normal_Estimation(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud);
                
                void inicialize_grid(void);
                
                void setGrid_parameter(double max_Xval,double max_Yval);
        
                void setGrid_data(pcl::PointCloud<pcl::PointXYZ>& cloud);
                
                
                void calcGrid_data(void);

                void fill_data_cells(void);
                
                std::vector<grid_nodePtr> cell_neighbours(int row_pos, int col_pos, int &empty_neighbours, int &number_neighbours);
                
                void set_Cells_accessibility(void);
                
                void polygon_groundtruth(void);
                void getCell_inpolygon(void);
                void dataCell_inpolygon(void);
                
                
                
        private:
        
};


#endif

---

navigability_map
Author(s): Matos
autogenerated on Wed Jul 23 04:33:41 2014