plane_road_extraction.h

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#ifndef _PLANE_ROAD_EXTRACTION_H_
#define _PLANE_ROAD_EXTRACTION_H_

// ROS includes.
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>
#include <pcl_ros/transforms.h>

// PCL includes
#include <pcl/point_types.h>
#include <pcl/conversions.h>
#include <pcl/surface/convex_hull.h>

// LAR includes
#include <points_from_volume/points_from_volume.h>
#include <plane_model_road_segmentation/plane_model_road_segmentation.h>

using namespace std;
using namespace pcl;

template<class T>
class plane_road_extraction
{
public:
    
    plane_road_extraction()
    {
    };
    
    ~plane_road_extraction()
    {
    };
    
    //  VARIABLES
    
    PointCloud<T> pc_in;
    
    PointCloud<T> pc_road;
    
    PointCloud<T> pc_clusters;    
    
    plane_model_road<T> pms;
    
    ros::Publisher * pub_road_ptr;

    ros::Publisher * pub_clusters_ptr;
    
    ros::Publisher * pub_road_perimeter_ptr;
    
    double z_min,z_max;
    
    // FUNCTIONS
    
    void filter (const sensor_msgs::PointCloud2Ptr& msg);
    
    PointCloud<T> project_cloud_on_plane(PointCloud<T> cloud_in, ModelCoefficients::Ptr coefficients);
    
    T transform_pcl_point(string frame1, tf::Transform transform, T pt_origin);
    
};

#include "plane_road_extraction.hpp"

#endif