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#ifndef _plane_model_segmentation_H_
#define _plane_model_segmentation_H_

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>

// ROS Transform stuff 
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
// Point cloud library stuff filters and so on

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/ros/conversions.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl_ros/transforms.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/filters/project_inliers.h>

using namespace std;

#define pi 3.1415926

template <class T>
class plane_model_road
{
public:
  
  bool find_road_frame(pcl::PointCloud<T> cloud_in);
  
  bool find_road_frame(const sensor_msgs::PointCloud2ConstPtr& msg);
  
  tf::Transform find_and_publish_road_frame(pcl::PointCloud<T> cloud_in);
  
  tf::Transform find_and_publish_road_frame(const sensor_msgs::PointCloud2ConstPtr& msg);  
  
  pcl::PointCloud<T> get_plane_coefficients(pcl::PointCloud<T> cloud_in, int iterations, float threshold, pcl::ModelCoefficients::Ptr coefficients);

  //variables definition
  float threshold;
  int iterations;
  bool debug;
  T point_origin;
  T point_x;
  T point_y;
  tf::TransformListener *listener_atc_ground_ptr; 
  tf::TransformBroadcaster *broadcast_ptr;
  std::string pub_frame_name;
  std::string reference_ground_frame;
  pcl::ModelCoefficients::Ptr coef;
  
  //Class Constructor  
  plane_model_road()
  {
    threshold=0.01;   //Initialize default values
    iterations=50;
    debug=false;
    
    point_origin.x=2; point_origin.y=0; point_origin.z=0;      
    point_x.x=4;      point_x.y=0;      point_x.z=0;
    point_y.x=4;      point_y.y=0;      point_y.z=0;
    pub_frame_name="/environment/road_frame";
    reference_ground_frame="/atc/vehicle/ground";
  };
  
  ~plane_model_road()
  {
    // Class Destructor
  };
  
private:
  
  // Variables definition
  pcl::PointCloud<T> outliers;
  T origin_projected;
  T pt_x_projected;
  T pt_y_projected;
  
  //     //Function declarations
  T project_point_to_plane(const T ptin, const pcl::ModelCoefficients::Ptr coeff);  
  
  T transform_pcl_point(std::string frame1, std::string frame2, T pt_origin);
  
  inline bool check_distance(double distance, double threshold)
  {
    if (distance<=threshold)
    {
      if (debug)
        cout << "PMS_DEBUG: ROAD FRAME FOUND" << endl;
      return true;
    }
    else
      return false;
  };
  
  
  vector<double> find_RP_angle(T origin_projected, T pt_x_projected, T pt_y_projected);  
  
  tf::Transform get_transform(T origin_projected, T pt_x_projected, T pt_y_projected);
  
};

#include "plane_model_road_segmentation_implementation.hpp"

#endif

---

plane_model_road_segmentation
Author(s): Tiago Talhada
autogenerated on Wed Jul 23 04:33:45 2014