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#ifndef _C_POLYGON_REPRESENTATION_CPP_
#define _C_POLYGON_REPRESENTATION_CPP_


#include "c_polygon_representation.h"

c_polygon_representation::c_polygon_representation(const char* name, ros::NodeHandle *node)
{
        allocate_space();
        set_names(name);
        rosnode = node;
        raw.publisher = rosnode->advertise<sensor_msgs::PointCloud2>(raw.advertising_name, 1);
        additional.publisher = rosnode->advertise<sensor_msgs::PointCloud2>(additional.advertising_name, 1);
        projected.publisher = rosnode->advertise<sensor_msgs::PointCloud2>(projected.advertising_name, 1);
        convex_hull.publisher = rosnode->advertise<sensor_msgs::PointCloud2>(convex_hull.advertising_name, 1);
        ROS_INFO("__________________________________");
        ROS_INFO("Starting a new polygon class named %s",polygon_name);
};

c_polygon_representation::~c_polygon_representation()
{
        delete &coefficients;
        delete &indices;
};

void c_polygon_representation::allocate_space(void)
{
        raw.cloud = pcl::PointCloud<PointT>::Ptr(new pcl::PointCloud<PointT>);
        additional.cloud = pcl::PointCloud<PointT>::Ptr(new pcl::PointCloud<PointT>);
        projected.cloud = pcl::PointCloud<PointT>::Ptr(new pcl::PointCloud<PointT>);
        convex_hull.cloud = pcl::PointCloud<PointT>::Ptr(new pcl::PointCloud<PointT>);
        coefficients =  pcl::ModelCoefficients::Ptr(new pcl::ModelCoefficients);
        indices = pcl::PointIndices::Ptr(new pcl::PointIndices); 
}

void c_polygon_representation::compute_plane_candidate_from_pc(
                pcl::PointCloud<PointT> *input_cloud,
                pcl::PointCloud<pcl::Normal> *input_normals, 
                double DistanceThreshold,
                double NormalDistanceWeight,
        int MaxIterations)
{
int num_original_pts = (int)input_cloud->size();

// Create the segmentation object
pcl::SACSegmentationFromNormals<PointT, pcl::Normal> segmentation; 

//Setup segmentation parameters
segmentation.setOptimizeCoefficients(true);
segmentation.setModelType(pcl::SACMODEL_NORMAL_PLANE);
segmentation.setMethodType (pcl::SAC_RANSAC); 
segmentation.setMaxIterations (MaxIterations);
segmentation.setNormalDistanceWeight (NormalDistanceWeight);
segmentation.setDistanceThreshold(DistanceThreshold);

//Compute  a plane candidate from the point cloud
segmentation.setInputCloud(input_cloud->makeShared());
segmentation.setInputNormals(input_normals->makeShared());
segmentation.segment(*indices, *coefficients);

if (indices->indices.size () == 0)
{
     ROS_ERROR("Could not estimate a planar model for the given dataset."); return;
}

indices_extraction(indices,
                   input_cloud,
                   input_cloud,
                   raw.cloud,
                   input_normals,
                   input_normals);


ROS_INFO("COMPUTING A PLANE CANDIDATE: candidate with %d points from an input pc with %d points",(int)raw.cloud->size(), num_original_pts);   

}

void c_polygon_representation::segment_plane_from_point_cloud(
                pcl::PointCloud<PointT> *input_cloud,
                double DistanceThreshold,
                int MaxIterations)
    {

        //Setup segmentation parameters
        pcl::SACSegmentation<PointT> segmentation; // Create the segmentation object

        segmentation.setOptimizeCoefficients(true);
        segmentation.setModelType(pcl::SACMODEL_PLANE);
        segmentation.setMethodType (pcl::SAC_RANSAC); 
        segmentation.setMaxIterations (MaxIterations);
        segmentation.setDistanceThreshold(DistanceThreshold);

        ROS_INFO("Indices before %d ...",(int)raw.cloud->size());   

        //Compute  a plane candidate from the point cloud
        segmentation.setInputCloud(input_cloud->makeShared());
        segmentation.segment(*indices, *coefficients);

        if (indices->indices.size () == 0)
        {
             ROS_ERROR("Could not estimate a planar model for the given dataset."); return;
        }
        


    }

#endif

---

polygon_primitives_extraction
Author(s): Miguel Oliveira
autogenerated on Wed Jul 23 04:35:24 2014