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#ifndef _polygon_primitive_H_
#define _polygon_primitive_H_

#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}

//####################################################################

#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/PointCloud.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <tf/transform_broadcaster.h>      

#include "pcl_ros/impl/transforms.hpp"
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.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/filters/extract_indices.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/surface/concave_hull.h>
#include <pcl/ModelCoefficients.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-1.6/pcl/segmentation/extract_clusters.h>
//#include <pcl/segmentation/extract_labeled_clusters.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>
//#include <pcl_ros/segmentation/extract_polygonal_prism_data.h>

#include <opencv2/core/core.hpp>

#include <polygon_primitive_msg/polygon_primitive.h>

//The interval variables
template <class PointT>
class polygon_3d:public pcl::PointCloud<PointT>{};


typedef struct {double x,y,z;}t_vector3d;
typedef struct 
{
        t_vector3d origin;
        t_vector3d arrow_x;
        t_vector3d arrow_y;
        t_vector3d arrow_z;
        tf::Transform transform; 
}t_reference_frame;

typedef struct
{
        struct
        {
                struct 
                {
                        unsigned char r,g,b;
                }color; 

                char name[1024];
                bool ground_search;

        }misc;

        struct
        {
                struct
                {
                        polygon_3d<pcl::PointXYZ>::Ptr polygon, extended_polygon;
                        double area; 
                        double solidity; 
                }convex;

                struct
                {
                        polygon_3d<pcl::PointXYZ>::Ptr polygon, extended_polygon;
                        double area; 
                        double solidity; 
                }concave;
        }hulls;

        struct
        {
                pcl::ModelCoefficients::Ptr current; 
                pcl::ModelCoefficients::Ptr previous; 
        }planes;

        struct
        {
                        std::string local_name;
                        std::string global_name;
                t_reference_frame current; 
                t_reference_frame previous; 
        }frames;

}t_polygon_primitive_data;


//Define the polygon class
class c_polygon_primitive
{
        // ------------------------------------------------------------------------------
        //PUBLIC SECTION OF THE CLASS
        // ------------------------------------------------------------------------------
        public:


                struct {
                        pcl::PointCloud<pcl::PointXYZ>::Ptr 
                                all, 
                                projected, 
                                additional, 
                                growed,
                                tmp; 
                }pointclouds;

                ros::NodeHandle *rosnode;
                t_polygon_primitive_data data;

        private:
                tf::TransformBroadcaster br;
                sensor_msgs::PointCloud2 cloud_msg;
                unsigned int grow_number;    


                //--------------------------Now the functions --------------------
        public:

                //-------------------------------------------
                //--- DEFINED IN polygon_primitive.cpp
                //-------------------------------------------
                c_polygon_primitive(ros::NodeHandle *node, const char* name="unamed", unsigned char r=0, unsigned char g=0, unsigned char b=0);
                ~c_polygon_primitive();

                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_comunications.cpp
                //-------------------------------------------
                int export_to_polygon_primitive_msg(polygon_primitive_msg::polygon_primitive* msg);
                int import_from_polygon_primitive_msg(polygon_primitive_msg::polygon_primitive* msg);
                int create_vizualization_msgs(visualization_msgs::MarkerArray* marker_vec, unsigned int id_start=0);
                visualization_msgs::Marker create_visualization_marker_header(
                std::string frame_id, ros::Time stamp, std::string name,
                int action, int id, int type,
                double px, double py, double pz,
                double qx, double qy, double qz, double qw,
                double sx, double sy, double sz,
                double cr, double cg, double cb, double alpha
                );


                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_auxiliary.cpp
                //-------------------------------------------
                int print_polygon_information(void);

                int compute_supporting_perpendicular_plane_ransac( pcl::PointCloud<pcl::PointXYZ> *pc_in,
                                pcl::PointCloud<pcl::Normal> *n_in,
                                double DistanceThreshold,
                                double NormalDistanceWeight,
                                int MaxIterations, 
                                pcl::PointIndices::Ptr ind_out,
                                pcl::ModelCoefficients::Ptr coeff_out
                                );

                int compute_supporting_plane_ransac( pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                                pcl::PointCloud<pcl::Normal> *input_normals,
                                double DistanceThreshold,
                                double NormalDistanceWeight,
                                int MaxIterations, 
                                pcl::PointIndices::Ptr indices,
                                pcl::ModelCoefficients::Ptr coefficients
                                );

                int indices_extraction(pcl::PointIndices::Ptr ind,
                                pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                                pcl::PointCloud<pcl::PointXYZ> *remove_cloud,
                                pcl::PointCloud<pcl::PointXYZ>::Ptr copy_cloud,
                                pcl::PointCloud<pcl::Normal> *input_normals,
                                pcl::PointCloud<pcl::Normal> *remove_normals,
                                int compute_normals=1);

                void project_pc_to_plane(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud<pcl::PointXYZ>::Ptr pcout);

                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_operations.cpp
                //-------------------------------------------
                int polygon_create(pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                                pcl::PointCloud<pcl::Normal> *input_normals,
                                double DistanceThreshold = 0.5,
                                double NormalDistanceWeight = 0.5,
                                int MaxIterations = 1000,
                                int do_spatial_division=0
                                );

                void polygon_split(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::PointCloud<pcl::PointXYZ>::Ptr pcdumpster, pcl::ModelCoefficients::Ptr coeff);


                int polygon_expansion(pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                                double longitudinal_offset=0.2,
                                double perpendicular_offset=0.3,
                                pcl::PointCloud<pcl::Normal>* input_normals=NULL); 

                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_2dhulls.cpp
                //-------------------------------------------

                void compute_convex_hull(const pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, const pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud<pcl::PointXYZ>::Ptr pcout);

                void compute_convex_hull_cgal(const pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, const pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud<pcl::PointXYZ>::Ptr pcout, tf::Transform *tr, double &area, double &solidity, bool flg=false);

                void compute_convex_hull_cgal(const pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, const pcl::ModelCoefficients::Ptr coeff, pcl::PointCloud<pcl::PointXYZ>::Ptr pcout, tf::Transform *tr);

                void compute_concave_hull(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::PointCloud<pcl::PointXYZ>::Ptr pcout, const pcl::ModelCoefficients::Ptr coeff);

                // ------------------------------------------------------------------------------
                //PRIVATE SECTION OF THE CLASS
                // ------------------------------------------------------------------------------
        private:

                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_2dhulls.cpp
                //-------------------------------------------
                int _polygon_expansion(pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                                double longitudinal_offset,
                                double perpendicular_offset,
                                pcl::PointCloud<pcl::Normal>* input_normals);


                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_auxiliary.cpp
                //-------------------------------------------

                void set_names(const char* s);

                // allocates space all for pointers
                void allocate_space(void);
                double compute_polygon_area(const polygon_3d<pcl::PointXYZ>::Ptr pcin);

                void normalize_vector(double *v);

                void copy(pcl::ModelCoefficients::Ptr in, pcl::ModelCoefficients::Ptr out)
                {
                        out->values[0] = in->values[0];
                        out->values[1] = in->values[1];
                        out->values[2] = in->values[2];
                        out->values[3] = in->values[3];
                }

                void copy(const t_reference_frame *in, t_reference_frame *out)
                {
                        out->origin.x = in->origin.x; out->origin.y = in->origin.y;     out->origin.z = in->origin.z;   
                        out->arrow_x.x = in->arrow_x.x; out->arrow_x.y = in->arrow_x.y; out->arrow_x.z = in->arrow_x.z; 
                        out->arrow_y.x = in->arrow_y.x; out->arrow_y.y = in->arrow_y.y; out->arrow_y.z = in->arrow_y.z; 
                        out->arrow_z.x = in->arrow_z.x; out->arrow_z.y = in->arrow_z.y; out->arrow_z.z = in->arrow_z.z; 
                        out->transform = in->transform;
                }

                double fit_plane_to_two_pc_and_ratio(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin1, pcl::PointCloud<pcl::PointXYZ>::Ptr pcin2, double ratio, pcl::ModelCoefficients::Ptr plane);

                void project_point_to_plane(const pcl::PointXYZ *ptin, const pcl::ModelCoefficients::Ptr coeff, pcl::PointXYZ *ptout);

                bool check_if_point_lies_on_plane(const pcl::ModelCoefficients::Ptr plane, const pcl::PointXYZ *point);

                int check_plane_normal_orientation(pcl::ModelCoefficients::Ptr plane, pcl::PointXYZ *ptin, double vx, double vy, double vz);

                void compute_arrow_points_from_transform(t_reference_frame *frame);

                void create_reference_frame_from_plane_and_two_points(
                                pcl::ModelCoefficients::Ptr plane,
                                pcl::PointXYZ *pt1,
                                pcl::PointXYZ *pt2,
                                t_reference_frame *frame
                                );

                void set_reference_systems(void);

                void refine_plane_coefficients(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::ModelCoefficients::Ptr coeff);


                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_planefitting.cpp
                //-------------------------------------------
                double fit_plane_to_pc(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::ModelCoefficients::Ptr plane);

                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_comunications.cpp
                //-------------------------------------------
                void publish_local_tf(void);

                //-------------------------------------------
                //--- DEFINED IN polygon_primitive_offseting.cpp
                //-------------------------------------------
                void offset_polygon(double val, const pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::PointCloud<pcl::PointXYZ>::Ptr pcout, tf::Transform *tr);
};
#endif

---

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