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#ifndef _polygon_primitive_operations_CPP_
#define _polygon_primitive_operations_CPP_


#include "polygon_primitive.h"

int c_polygon_primitive::polygon_create(pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                pcl::PointCloud<pcl::Normal> *input_normals, 
                double DistanceThreshold,
                double NormalDistanceWeight,
                int MaxIterations,
                int do_spatial_division)
{

        ros::Time start_tic = ros::Time::now();
        data.hulls.convex.area = 0;
        data.hulls.convex.solidity = 0;
        int polygon_created_correctly=true;
        //size_t num_start_points = input_cloud->size();

        
        //Set the name of the global reference system, the same as the one defined by the input cloud
        data.frames.global_name = input_cloud->header.frame_id; 
        set_reference_systems();

        
        //-------------------------------------
        //Define some internal variables
        //-------------------------------------
        //int num_original_pts = (int)input_cloud->size();
        
        
        //int num_candidate_plane_points=0;
        int j=0, max_cluster=0, count=0;
        int num_clusters=0;
        pcl::PointIndices::Ptr indices = pcl::PointIndices::Ptr(new pcl::PointIndices); 

        
        //-------------------------------------
        // Define the frame_id for all pc
        //-------------------------------------
        
        data.frames.global_name = input_cloud->header.frame_id; 
        pointclouds.all->header.frame_id = data.frames.global_name;
        data.hulls.convex.polygon->header.frame_id = data.frames.global_name;
        pointclouds.additional->header.frame_id = data.frames.global_name;

        
        //-------------------------------------
        // Find a supporting plane using ransac
        //-------------------------------------

        if (do_spatial_division==0)
        {

        
                //ROS_INFO("Computing a supporting plane ...");
                if (!compute_supporting_plane_ransac( input_cloud,
                                        input_normals,
                                        DistanceThreshold,
                                        NormalDistanceWeight,
                                        MaxIterations, 
                                        indices,
                                        data.planes.current
                                        ))
                {
                        ROS_WARN("polygon create: cannot create polygon"); return 0;
                        polygon_created_correctly=false;
                }
                //ROS_INFO("Computing a supporting plane ...done");
                //
        
        }
        else
        {

        
                //ROS_INFO("Computing a PARALELL supporting plane ...");
                if (!compute_supporting_perpendicular_plane_ransac( input_cloud,
                                        input_normals,
                                        DistanceThreshold,
                                        NormalDistanceWeight,
                                        MaxIterations, 
                                        indices,
                                        data.planes.current
                                        ))
                {
                        ROS_WARN("PARALELL polygon create: cannot create polygon"); return 0;
                        polygon_created_correctly=false;
                }
                //ROS_INFO("Computing a PARALELL supporting plane ...done");
        
        }

        //-------------------------------------
        // Extract plane supporting points from input point cloud
        //-------------------------------------
        
        indices_extraction(indices,
                        input_cloud,
                        input_cloud,
                        pointclouds.all,
                        input_normals,
                        input_normals);

        
        //num_candidate_plane_points = (int)pointclouds.all->size();

        
        //-------------------------------------
        // PERFORM EUCLIDIAN CLUSTER OPTIMIZATION IF REQUIRED
        //-------------------------------------
        if (do_spatial_division==1 && polygon_created_correctly==true)
        {
                //polygon_split(pointclouds.all- input_cloud->makeShared(), data.planes.current);

                //Set the values of some control variables
                j=0; max_cluster=0; count=0; num_clusters=0;

                // Creating the KdTree object for the search method of the extraction 
                //pcl::KdTree<pcl::PointXYZ>::Ptr tree1 (new pcl::KdTreeFLANN<pcl::PointXYZ>);
                //pcl::EuclideanClusterExtraction<pcl::PointXYZ>::KdTreePtr tree1 (new pcl::KdTreeFLANN<pcl::PointXYZ>);
                pcl::search::KdTree<pcl::PointXYZ>::Ptr tree1 (new pcl::search::KdTree<pcl::PointXYZ>);
                //pcl::search::Search<pcl::PointXYZ>::Ptr tree1 (new pcl::search::Search<pcl::PointXYZ>);
                //KdTreePtr<pcl::PointXYZ> tree1 (new KdTree<pcl::PointXYZ>);
//              boost::shared_ptr::pcl::search::KdTree<pcl::PointXYZ> tree1 (new pcl::search::KdTree<pcl::PointXYZ>);
                //pcl::KdTree<pcl::PointXYZ>::Ptr tree1 (new pcl::KdTree<pcl::PointXYZ>);
//              pcl::KdTree<pcl::PointXYZ> tree1;
                pcl::PointCloud<pcl::PointXYZ> cluster;
                tree1->setInputCloud(pointclouds.all->makeShared());

                std::vector<pcl::PointIndices> cluster_indices;
                pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
                ec.setClusterTolerance(0.9); 
                ec.setMinClusterSize(1);
                ec.setMaxClusterSize((unsigned int)pointclouds.all->size());
                ec.setSearchMethod(tree1);
                ec.setInputCloud(pointclouds.all->makeShared());
                ec.extract(cluster_indices);

                
        
                //Find the largest cluster
                for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
                {
                        int t=0;
                        for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
                        {
                                t++;
                        }
                        //ROS_INFO("Cluster %d has %d points",j,t);
                        if(t>count) //select a new max
                        {
                                max_cluster = j; 
                                count = t;
                        }
                        j++;
                }


        
                j=0;
                pcl::PointCloud<pcl::PointXYZ>::Ptr tmp_cloud;
                tmp_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);

        
                for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
                {
                        if (j==max_cluster)
                        {
                                tmp_cloud->width=0;
                                for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
                                {
                                        tmp_cloud->width++;
                                        tmp_cloud->points.push_back(pointclouds.all->points[*pit]);
                                }
                        }
                        else
                        {
                                //for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
                                //{
                                //input_cloud->width++;
                                //input_cloud->points.push_back(pointclouds.all->points[*pit]);
                                //}
                        }
                        j++;
                } 
                num_clusters=j;

        
                (*pointclouds.all) = (*tmp_cloud); //pointclouds.all-now has only largest cluster



        
                //refine_plane_coefficients(pointclouds.all- data.planes.current);
                //ROS_INFO("OLA plane A=%3.2f B=%3.2f C=%3.2f D=%3.2f ",data.planes.current->values[0],  data.planes.current->values[1],data.planes.current->values[2],data.planes.current->values[3]);   
                double fit_qual = fit_plane_to_pc(pointclouds.all, data.planes.current);
                fit_qual=fit_qual;

        
                //ROS_INFO("fit_qual=%f OLA2 plane A=%3.2f B=%3.2f C=%3.2f D=%3.2f ",fit_qual, data.planes.current->values[0],  data.planes.current->values[1],data.planes.current->values[2],data.planes.current->values[3]);   


        
                double fit_qual2 = fit_plane_to_two_pc_and_ratio(pointclouds.all, pointclouds.all, 0.5, data.planes.current);
                fit_qual2=fit_qual2;
                //ROS_INFO("fit_qual=%f OLA3 plane A=%3.2f B=%3.2f C=%3.2f D=%3.2f ",fit_qual2, data.planes.current->values[0],  data.planes.current->values[1],data.planes.current->values[2],data.planes.current->values[3]);   

        }


        
        if (polygon_created_correctly==true)
        {
                check_plane_normal_orientation(data.planes.current, &pointclouds.all->points[0], 100000, 100000, 100000);
                //-------------------------------------
                //obtain the convex hull of the supporting points
                //-------------------------------------
                //
                //
                //
                create_reference_frame_from_plane_and_two_points(data.planes.current,
                                &pointclouds.all->points[0],
                                &pointclouds.all->points[1],
                                &data.frames.current);
                //compute_convex_hull(pointclouds.all-data.planes.current, data.hulls.convex.polygon);
                compute_convex_hull_cgal(pointclouds.all, data.planes.current,  data.hulls.convex.polygon, &data.frames.current.transform, data.hulls.convex.area, data.hulls.convex.solidity,false);
                pointclouds.projected->header.frame_id = "/world";
                //printf("CONVEX HULL POLYGON has %d points\n",(int) data.hulls.convex.polygon->points.size());
                //pcl::PointCloud<pcl::PointXYZ> pc_local; 
                //pcl_ros::transformPointCloud(*data.hulls.convex.polygon, pc_local,  reference_frame.transform.inverse());

                //printf("CONVEX HULL LOCAL POLYGON has %d points\n",(int) pc_local.points.size());
                //for (size_t i=0; i<data.hulls.convex.polygon->points.size(); i++)
                //{
                //printf("pt[%d] x=%3.2f y=%3.2f z=%3.2f  local x=%3.2f y=%3.2f z=%3.6f\n",(int)i, data.hulls.convex.polygon->points[i].x, data.hulls.convex.polygon->points[i].y, data.hulls.convex.polygon->points[i].z, pc_local.points[i].x, pc_local.points[i].y, pc_local.points[i].z);
                //}


                //if (do_spatial_division==1)
                        //compute_concave_hull(pointclouds.all, data.hulls.concave.polygon, data.planes.current);

                //-------------------------------------
                //-------------------------------------
                //create_reference_system_from_convex_hull(data.planes.current, data.hulls.convex.polygon,&reference_frame);


                offset_polygon(.1, data.hulls.convex.polygon, data.hulls.convex.extended_polygon, &data.frames.current.transform);

                //Copy to grow and old frame
                copy(&data.frames.current, &data.frames.previous);
        }


        
        ros::Duration time1 = ros::Time::now() - start_tic;
#if 0

        ROS_INFO("%s create in %3.2f seconds\n \
                        Creation %s\n \
                        Color rgb [%d,%d,%d]\n \
                        Initial point cloud with %d points, after with %d points\n \
                        Using Euclidean cluster extraction: %s\n \
                        Divided into %d clusters. Largest %d with %d points\n \
                        Support plane is A=%3.2f B=%3.2f C=%3.2f D=%3.2f \n \
                        Number of support points %d \n \
                        Convex Hull with %d points, Area of %3.2f and Solidity of %3.2f \n \
                        Concave Hull with %d points, Area of %3.2f and Solidity of %3.2f \n \
                        ", data.misc.name, time1.toSec(),  (polygon_created_correctly==true)?"successfully":"failure. No ransac candidate output",data.misc.color.r, data.misc.color.g, data.misc.color.b, (int)num_start_points, (int)input_cloud->size(), (do_spatial_division==true)?"yes":"no", num_clusters, max_cluster, count, data.planes.current->values[0],  data.planes.current->values[1],data.planes.current->values[2],data.planes.current->values[3],(int)pointclouds.all->size(), (int)data.hulls.convex.polygon->points.size(),data.hulls.convex.area, data.hulls.convex.solidity,(int) data.hulls.concave.polygon->points.size(),0.,0.);


#endif


        indices.reset(); //free the indices object

        if (polygon_created_correctly==true)
                return 1;
        else
                return 0;
}

int c_polygon_primitive::polygon_expansion(pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                double longitudinal_offset,
                double perpendicular_offset,
                pcl::PointCloud<pcl::Normal>* input_normals) 
{
        ros::Time start_tic = ros::Time::now();
        int num_support_points_before_expansion = (int)pointclouds.all->points.size();
        bool significative_expansion=false;
        int old_convex_hull_num_pts = (int)data.hulls.convex.polygon->points.size();
        double old_convex_hull_area = data.hulls.convex.area;
        double old_convex_hull_solidity = data.hulls.convex.solidity;

        //Erase the points from the polygon expanded pc
        pointclouds.growed->points.erase(pointclouds.growed->points.begin(),
                        pointclouds.growed->points.end());      

        int num_expansions=0;
        int flag_keep_expanding=1;
        // --------------------------------     
        //Expansion Cycle
        // --------------------------------     
        ros::Time t = ros::Time::now();
        while (flag_keep_expanding)
        {
                flag_keep_expanding = _polygon_expansion(input_cloud, longitudinal_offset, perpendicular_offset, input_normals);
                num_expansions++;       
        }

        if ((int)pointclouds.growed->points.size()==0)//no expansion occurred
        {
                significative_expansion=false;
        }
        else //An expansion occurred
        {
                significative_expansion=true;
                // ----------------------------------------------
                //Now the new reference system must be calculated
                // ----------------------------------------------
                //First, we backup the reference frame and plane to the old
                copy(&data.frames.current, &data.frames.previous); 
                copy(data.planes.current, data.planes.previous); 

                //Compute the ratio for interpolation of the new reference system, as division of the number of points already supported by the polygon and the new growed points
                double ratio = (double)pointclouds.growed->points.size() /
                        ((double)pointclouds.growed->points.size() +(double)pointclouds.all->points.size());

                double fit_qual3 = fit_plane_to_two_pc_and_ratio(pointclouds.all, pointclouds.growed, ratio, data.planes.current);
                fit_qual3=fit_qual3;

                project_pc_to_plane(pointclouds.all, data.planes.current, pointclouds.projected);

                create_reference_frame_from_plane_and_two_points(data.planes.current,
                                &pointclouds.all->points[0],
                                &pointclouds.all->points[1],
                                &data.frames.current);



                //and finally, obtain a new ch by projecting the convex hull to the new plane
                compute_convex_hull_cgal(data.hulls.convex.polygon,data.planes.current,  data.hulls.convex.polygon, &data.frames.current.transform);

                //for now add to the all pc the growed pc
                pointclouds.growed->header.frame_id = pointclouds.all->header.frame_id;  
                (*pointclouds.all) += (*pointclouds.growed);

                //if (strcmp(data.misc.name,"p0"))
                        //compute_concave_hull(pointclouds.all, data.hulls.concave.polygon, data.planes.current);

        }

        ros::Duration time1 = ros::Time::now() - start_tic;

#if 1

        ROS_INFO("%s Expansion in %3.2f seconds\n \
                        Expansion point cloud with %d points, after with %d points\n \
                        Expansion params: longitudinal offset=%3.2f perpendicular offset=%3.2f \n \
                        Polygon expanded %d times to a total of %d points \n \
                        Number of support points at T-1 %d, at T %d \n \
                        Support plane was recomputed: %s \n \
                        Support plane at T-1 A=%3.2f B=%3.2f C=%3.2f D=%3.2f \n \
                        Support plane at T A=%3.2f B=%3.2f C=%3.2f D=%3.2f \n \
                        Convex Hull at T-1 with %d points, Area of %3.2f and Solidity of %3.2f \n \
                        Convex Hull at T with %d points, Area of %3.2f and Solidity of %3.2f \n \
                        Concave Hull with %d points, Area of %3.2f and Solidity of %3.2f \n \
                        ", data.misc.name, time1.toSec(),  (int)num_support_points_before_expansion, (int)pointclouds.all->points.size(), longitudinal_offset, perpendicular_offset, num_expansions, (int)pointclouds.growed->points.size(), num_support_points_before_expansion, (int)pointclouds.all->size(), significative_expansion?"yes":"no", data.planes.previous->values[0],  data.planes.previous->values[1],data.planes.previous->values[2],data.planes.previous->values[3],data.planes.current->values[0],  data.planes.current->values[1],data.planes.current->values[2],data.planes.current->values[3],old_convex_hull_num_pts, old_convex_hull_area, old_convex_hull_solidity, (int)data.hulls.convex.polygon->points.size(),data.hulls.convex.area, data.hulls.convex.solidity,(int) data.hulls.concave.polygon->points.size(),0.,0.);


#endif
        return 1;}

int c_polygon_primitive::_polygon_expansion(pcl::PointCloud<pcl::PointXYZ> *input_cloud,
                double longitudinal_offset,
                double perpendicular_offset,
                pcl::PointCloud<pcl::Normal>* input_normals) 
{
        //-------------------------------------
        //offset the ch polygon
        //-------------------------------------
        offset_polygon(longitudinal_offset, data.hulls.convex.polygon, data.hulls.convex.extended_polygon, &data.frames.current.transform);

        //Create variables
        pcl::ExtractPolygonalPrismData<pcl::PointXYZ> epp; 
        pcl::PointCloud<pcl::PointXYZ>::ConstPtr input_cloud_constptr; 
        input_cloud_constptr.reset (new pcl::PointCloud<pcl::PointXYZ> (*input_cloud));
        pcl::PointCloud<pcl::PointXYZ>::ConstPtr convex_hull_constptr;
        convex_hull_constptr.reset (new pcl::PointCloud<pcl::PointXYZ> (*data.hulls.convex.extended_polygon));
        pcl::PointIndices::Ptr ind =  pcl::PointIndices::Ptr(new pcl::PointIndices);
        pcl::ExtractIndices<pcl::PointXYZ> extract; //Create the extraction object
        pcl::PointIndices::Ptr indices;
        indices.reset();
        indices = pcl::PointIndices::Ptr(new pcl::PointIndices); 

        //Set epp parameters
        epp.setInputCloud(input_cloud_constptr);
        epp.setInputPlanarHull(convex_hull_constptr);
        epp.setHeightLimits(-perpendicular_offset, perpendicular_offset); 
        epp.setViewPoint(10000,10000,10000); 

        //Segment
        epp.segment(*ind);

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


        //add to growed point cloud


        pointclouds.growed->header.frame_id = data.frames.global_name;
        pointclouds.all->header.frame_id = data.frames.global_name;  
        (*pointclouds.growed) += (*pointclouds.additional);


        if ((int)pointclouds.additional->size() == 0) //very little expansion
        { 
                indices.reset(); //free the indices object
                return 0; //no expansion occurred
        }

        //-------------------------------------
        //obtain the projection of the new expanded points on the plane
        //-------------------------------------

        //erase all from tmp cloud
        pointclouds.tmp->header.frame_id = data.frames.global_name;
        data.hulls.convex.polygon->header.frame_id = data.frames.global_name;
        pointclouds.growed->header.frame_id = data.frames.global_name;

        (*pointclouds.tmp) = (*data.hulls.convex.polygon);

        (*pointclouds.tmp) += (*pointclouds.growed);


        //-------------------------------------
        //obtain the convex hull of the old ch plus the additional projected points
        //-------------------------------------
        compute_convex_hull_cgal(pointclouds.tmp,data.planes.current,  data.hulls.convex.polygon, &data.frames.current.transform);

        return 1; //grow operation expanded the polygon
}

void c_polygon_primitive::polygon_split(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::PointCloud<pcl::PointXYZ>::Ptr pcdumpster, pcl::ModelCoefficients::Ptr coeff)
{
        //Set the values of some control variables
        int j=0, max_cluster=0, count=0, num_clusters=0;

        // Creating the KdTree object for the search method of the extraction 
        //pcl::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::KdTreeFLANN<pcl::PointXYZ>);
        //pcl::EuclideanClusterExtraction<pcl::PointXYZ>::KdTreePtr tree (new pcl::KdTreeFLANN<pcl::PointXYZ>);

        pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
        pcl::PointCloud<pcl::PointXYZ> cluster;
        tree->setInputCloud(pcin->makeShared());

        std::vector<pcl::PointIndices> cluster_indices;
        pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
        ec.setClusterTolerance(1.0); 
        ec.setMinClusterSize(1);
        ec.setMaxClusterSize((unsigned int)pcin->size());
        ec.setSearchMethod(tree);
        ec.setInputCloud(pcin->makeShared());
        ec.extract(cluster_indices);

        //Find the largest cluster
        for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
        {
                int t=0;
                for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
                {
                        t++;
                }
                //ROS_INFO("Cluster %d has %d points",j,t);
                if(t>count) //select a new max
                {
                        max_cluster = j; 
                        count = t;
                }
                j++;
        }


        j=0;
        pcl::PointCloud<pcl::PointXYZ>::Ptr tmp_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);

        for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
        {
                if (j==max_cluster)
                {
                        tmp_cloud->width=0;
                        for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
                        {
                                tmp_cloud->width++;
                                tmp_cloud->points.push_back(pcin->points[*pit]);
                        }
                }
                else
                {
                        for (std::vector<int>::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
                        {
                                pcdumpster->width++;
                                pcdumpster->points.push_back(pcin->points[*pit]);
                        }
                }
                j++;
        } 
        num_clusters=j;

        (*pcin) = (*tmp_cloud); //pcin now has only largest cluster. The actual split operation
        tmp_cloud.reset(); //free tmp_cloud

        refine_plane_coefficients(pcin, coeff); //now recompute plane coefficients

        ROS_INFO("Performing Euclidian cluster extraction optimization:");
        ROS_INFO("Largest cluster is %d with %d points (%d clusters)",max_cluster,count, num_clusters);
        ROS_INFO("New support plane A=%3.2f B=%3.2f C=%3.2f D=%3.2f supported by %d points",data.planes.current->values[0],  data.planes.current->values[1],data.planes.current->values[2],data.planes.current->values[3],(int)pointclouds.all->size());   

}


#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