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#ifndef _C_POLYGON_REPRESENTATION_H_
#define _C_POLYGON_REPRESENTATION_H_

//####################################################################
//
#include <ros/ros.h>
//#include <pcl/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>
//#include <pcl/point_types.h>
//#include <ros/ros.h>
// PCL specific includes
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <signal.h>


#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "config.h"
#include "config_util.h"
#include "eventlog.h"
#include "lcmtypes_velodyne_t.h"
#include "lcmtypes_pose_t.h"
#include "small_linalg.h"
#include "velodyne.h"

#include <visualization_msgs/Marker.h>

#include <cmath>

#include <iostream>
#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/features/normal_3d.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/project_inliers.h>

#include <pcl/filters/extract_indices.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>

#include <pcl/segmentation/extract_polygonal_prism_data.h>

//#include "pcl_ros/transforms.h"
#include "pcl_ros/segmentation/extract_polygonal_prism_data.h"

typedef pcl::PointXYZ PointT;
#define _NUM_POLYGONS_ 5
#define _NUM_CLUSTERS_ 5



typedef struct tag_t_polygon_point_cloud
{
    pcl::PointCloud<PointT>::Ptr cloud;
    ros::Publisher publisher;
    char advertising_name[1024];
}t_polygon_point_cloud;


//Define the polygon class
class c_polygon_representation
{
  public:

    c_polygon_representation(const char* name, ros::NodeHandle *node);

    ~c_polygon_representation();

    void publish_raw_cloud(void){publish_polygon_point_cloud(&raw);};
    void publish_projected_cloud(void){publish_polygon_point_cloud(&projected);};
    void publish_convex_hull_cloud(void){publish_polygon_point_cloud(&convex_hull);};
    void publish_additional_cloud(void){publish_polygon_point_cloud(&additional);};

    void publish_polygon_point_cloud(t_polygon_point_cloud *ppc)
    {
      ppc->cloud->header.frame_id = "/sensor_frame";
      ppc->cloud->height = 1; //1 since its and unordered pc
      ppc->cloud->is_dense=0;
      ppc->cloud->width = ppc->cloud->size();

      pcl::toROSMsg(*ppc->cloud, cloud_msg);
      ppc->publisher.publish(cloud_msg);
    }

    // ------------------------------------------------------------------------------
    //utility functions
    // ------------------------------------------------------------------------------

   int indices_extraction(pcl::PointIndices::Ptr ind,
                          pcl::PointCloud<PointT> *input_cloud,
                          pcl::PointCloud<PointT> *remove_cloud,
                          pcl::PointCloud<PointT>::Ptr copy_cloud,
                          pcl::PointCloud<pcl::Normal> *input_normals,
                          pcl::PointCloud<pcl::Normal> *remove_normals)
   {
        if (input_cloud!=NULL) //if an input cloud is given
        {
                pcl::ExtractIndices<PointT> extract; //Create the extraction object
                extract.setInputCloud(input_cloud->makeShared());
                extract.setIndices(ind);

                //Copy to copy_cloud if not NULL 
                if(copy_cloud!=NULL)
                {
                        extract.setNegative(false);
                        extract.filter(*copy_cloud);
                }

                //Remove from remove if not NULL
                if(remove_cloud!=NULL)
                {
                        extract.setNegative(true);
                        extract.filter(*remove_cloud);
                }
        }

        if (input_normals!=NULL)
        {
                pcl::ExtractIndices<pcl::Normal> extract_normals; //Create the normal extraction object
                extract_normals.setInputCloud(input_normals->makeShared());
                extract_normals.setIndices(ind);

                if (remove_normals!=NULL)
                {
                        extract_normals.setNegative(true);
                        extract_normals.filter(*remove_normals);
                }
        } 


        
   return 1;}

    //Computes a new polygon candidate using RANSAC from a given pc with normals, ::PointIndices and removes inliers from the input cloud and normals. 
    void compute_plane_candidate_from_pc(pcl::PointCloud<PointT> *input_cloud,
                                         pcl::PointCloud<pcl::Normal> *input_normals,
                                         double DistanceThreshold = 0.5,
                                         double NormalDistanceWeight = 0.5,
                                         int MaxIterations = 1000
                                         );

   void project_raw_cloud_to_plane(void)
   {
        project_cloud_to_plane(raw.cloud->makeShared());
   }

   void project_cloud_to_plane(pcl::PointCloud<PointT>::Ptr input_cloud)
   {
        // Project the model inliers 
        pcl::ProjectInliers<pcl::PointXYZ> projection;

        projection.setModelType(pcl::SACMODEL_NORMAL_PLANE);
        projection.setInputCloud(raw.cloud->makeShared());
        projection.setModelCoefficients(coefficients);
        projection.filter(*projected.cloud);

   } 

   void compute_convex_hull(void)
   {
        // Create a Convex Hull representation of the projected inliers
        pcl::ConvexHull<pcl::PointXYZ> chull;
        chull.setInputCloud(projected.cloud->makeShared());
        chull.reconstruct(*convex_hull.cloud);
   }


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


   void compute_convex_hull_inliers(pcl::PointCloud<PointT> *input_cloud, pcl::PointCloud<pcl::Normal> *input_normals)
   {
        //Create variables
        pcl::ExtractPolygonalPrismData<PointT> epp; 
        pcl::PointCloud<PointT>::ConstPtr input_cloud_constptr; 
        input_cloud_constptr.reset (new pcl::PointCloud<PointT> (*input_cloud));
        pcl::PointCloud<PointT>::ConstPtr convex_hull_constptr;
        convex_hull_constptr.reset (new pcl::PointCloud<PointT> (*convex_hull.cloud));
        pcl::PointIndices::Ptr ind =  pcl::PointIndices::Ptr(new pcl::PointIndices);
        pcl::ExtractIndices<PointT> extract; //Create the extraction object

        //Start processing
        ROS_INFO("Extracting Convex Hull inliers");
        ROS_INFO("Input cloud has %d points",(int)input_cloud->size());
 

        //Set epp parameters
        epp.setInputCloud(input_cloud_constptr);
        epp.setInputPlanarHull(convex_hull_constptr);
        epp.setHeightLimits(-0.2, 0.2); 
        epp.setViewPoint(0,0,0); 

        //Segment
        epp.segment(*ind);


        indices_extraction(ind,
                          input_cloud,
                          input_cloud,
                          additional.cloud,
                          input_normals,
                          input_normals);


        //Extract the plane inliers from the input cloud. Generate raw.cloud
        //extract.setInputCloud(input_cloud->makeShared());
        //extract.setIndices (boost::make_shared<const pcl::PointIndices> (ind));
        //extract.setIndices (ind);
        //extract.setNegative(false);
        //extract.filter(*additional.cloud);

        //Remove the plane inliers from the input_cloud
        //extract.setNegative(true);
        //extract.filter(*input_cloud);

        //Remove plane inliers from the input_normals
        //pcl::ExtractIndices<pcl::Normal> extract_normals;
        //extract_normals.setNegative (true);
        //extract_normals.setInputCloud(input_normals->makeShared());
        //extract_normals.setIndices(ind);
        //extract_normals.filter(*input_normals);

        (*raw.cloud) += (*additional.cloud);

        //segment_plane_from_point_cloud(&raw.cloud, 3.0, 100);

        //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 (100);
        segmentation.setDistanceThreshold(333);

        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;
        }

        ROS_INFO("Found %d inliers of polygon",(int)additional.cloud->size());   
        ROS_INFO("Removed %d points from input_cloud. Now  has %d points",(int)additional.cloud->size(),(int)input_cloud->size());   

       
        ROS_INFO("Extracting Convex Hull inliers done ...");
   }
        
//Build the condition 
//pcl::ConditionAnd<PointT>::Ptr range_cond (new pcl::ConditionAnd<PointT> ()); 
//range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::LT, 2.0))); 
//range_cond->addComparison (pcl::FieldComparison<PointT>::Ptr (new pcl::FieldComparison<PointT>("z", pcl::ComparisonOps::GT, 0.0))); 

//Build the filter 
//pcl::ConditionalRemoval<PointT> range_filt; 
//range_filt.setCondition (range_cond); 
//range_filt.setKeepOrganized (false);



    // Variables for polyplane segmentation and representation
    pcl::ModelCoefficients::Ptr coefficients;
    pcl::PointIndices::Ptr indices;
    t_polygon_point_cloud raw, projected, convex_hull, additional;
    //pcl::PointCloud<PointT> cluster[_NUM_CLUSTERS_];

  private:


    //sprintf(str, "plg_%d",i);
    //pub[i] = n.advertise<sensor_msgs::PointCloud2>(str, 1);
    ros::NodeHandle *rosnode;
    char polygon_name[1024];
    sensor_msgs::PointCloud2 cloud_msg;

    
//void pcl::SampleConsensusModelPlane< PointT >::optimizeModelCoefficients      (       const std::vector< int > &      inliers,
                //const Eigen::VectorXf &       model_coefficients,
                //Eigen::VectorXf &     optimized_coefficients   
        //)                     [virtual]




    void set_names(const char* s)
    { 
      sprintf(polygon_name,"%s",s);
      sprintf(raw.advertising_name,"%s/raw",s);
      sprintf(additional.advertising_name,"%s/additional",s);
      sprintf(projected.advertising_name,"%s/projected",s);
      sprintf(convex_hull.advertising_name,"%s/convex_hull",s);
    }


    void allocate_space(void);
    
      

};
#endif

/*Previous 3 lines appended automatically on Sun Feb  5 19:40:16 WET 2012 */

---

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