lidar_segmentation.h

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#ifndef _COIMBRA_LIDAR_SEGMENTATION_H_
#define _COIMBRA_LIDAR_SEGMENTATION_H_

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <rosbag/bag.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <tf/transform_broadcaster.h>
#include <sstream>
#include "sensor_msgs/LaserScan.h"
#include "geometry_msgs/Point.h"
#include <vector>
#include <iostream>
#include <stdlib.h>
#include <colormap/colormap.h>
#include <utility>
#include <map>
#include <fstream>
#include <string>
#include <ros/package.h>
#include "clustering.h"
#include "groundtruth.h"


# define SIMPLE_SEG 1;      
# define PREM_SEG 2;
# define DIET_SEG 3;
# define ABD_SEG 4;
# define NN_SEG 5;
# define SANTOS_C_SEG 6;
# define SANTOS_B_SEG 7;

using namespace std;


class Point
{
        public:
                
                Point()
                {
                        x=0;
                        y=0;
                        theta=0;
                        range=0;
                        label=0;
                        iteration=0;
                }
                
                double x;             
                double y;                          
                double theta;              
                double range;              
                int label;                         
                int cluster_id;            
                int iteration;        
};

//Shared pointer to the Point class
typedef boost::shared_ptr<Point> PointPtr;
typedef boost::shared_ptr< ::sensor_msgs::LaserScan> LaserScanPtr;


bool comparePoints(PointPtr p1,PointPtr p2);

int convertPointsToCluster( const sensor_msgs::LaserScan::ConstPtr& scan_msg , vector<PointPtr>& points, vector<ClusterPtr>& clusters_GT);

int createPointsFromFile( vector<PointPtr>& points , C_DataFromFilePtr data_gt );


void filterPoints(vector<PointPtr>& points_in , vector<PointPtr>& points_out, double min_range, double max_range);


void removeInvalidPoints(vector<PointPtr>& laser_points, vector<ClusterPtr> clusters, uint min_points );


bool correctClusterId (PointPtr p, int cluster_id);


int writeResults_GT(uint iteration , vector<PointPtr>& points , int id_result);


int writeResults_paths(vector<PointPtr>& points, int algorithm_id, double initial_value, double increment, int number_of_iterations , uint iteration, int id_result);


#endif