extract_polygon_primitives.h

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#ifndef _extract_polygon_primitives_H_
#define _extract_polygon_primitives_H_



//   ___________________________________
//   |                                 |
//   |           INCLUDES              |
//   |_________________________________| 
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <tf/transform_listener.h>

#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/sac_segmentation.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <wrapper_collada/wrapper_collada.h>

#include "polygon_primitive.h"

//   ___________________________________
//   |                                 |
//   |            DEFINES              |
//   |_________________________________| 
#define PFLN {printf("DEBUG PRINT FILE %s LINE %d\n",__FILE__,__LINE__);}
#define _MAX_NUM_POLYGONS_ 270
//#define _MAX_NUM_POLYGONS_ 2

//TYPE DEFINITIONS

//FUNCTIONS PROTOTYPES

//defined in extract_polygon_primitives_rvizmarkers.cpp
void create_publish_marker_array(std::vector<c_polygon_primitive> *plg, visualization_msgs::MarkerArray *marker_array_msg);
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 extract_polygon_primitives_handlers.cpp
void PointCloudHandler(const sensor_msgs::PointCloud2ConstPtr& input);
void VehiclePoseHandler(const geometry_msgs::PoseStamped& lpose);


//defined in extract_polygon_primitives_auxiliary.cpp
//void filter_uncoherent_points(pcl::PointCloud<pcl::PointNormal>::Ptr pc, double radius, pcl::PointCloud<pcl::PointNormal>::Ptr pcout);
void filter_uncoherent_points(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::PointCloud<pcl::PointXYZ> *pcout,  pcl::PointCloud<pcl::PointXYZ> *pcelim,pcl::PointCloud<pcl::Normal>::Ptr n ,double radius, float vx, float vy, float vz);
void filter_uncoherent_points(pcl::PointCloud<pcl::PointNormal>::Ptr pc, double radius, pcl::PointCloud<pcl::PointNormal>::Ptr pcout, pcl::PointCloud<pcl::PointNormal>::Ptr pcelim,float vx, float vy, float vz);
void draw_markers(int k, Eigen::Vector4f* q_avg, std::vector<Eigen::Vector4f>* qv, pcl::PointCloud<pcl::PointNormal>::Ptr pc, std::vector<int>* pointIdxRadiusSearch, Eigen::Vector4f* q_avg0, std::vector<bool>* is_fliped);
int compute_normals(pcl::PointCloud<pcl::PointXYZ>* pc_in, float vx, float vy, float vz, float radius, int K, pcl::PointCloud<pcl::Normal>* pc_out);
int save_pc_PointNormal_to_pcd(pcl::PointCloud<pcl::PointXYZ>* pc_in, pcl::PointCloud<pcl::Normal>* normals_in, std::string name);
int get_vehicle_position(ros::NodeHandle *pn, tf::TransformListener* listener, tf::StampedTransform* vehicle_tf, ros::Time* t);

//GLOBAL VARIABLES
#ifdef _extract_polygon_primitives_CPP_

#define _EXTERN_ 
unsigned char cr[16]={0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; 
unsigned char g[16]={0, 16, 32, 49, 65, 81, 97, 113, 130, 146, 162, 178, 194, 210, 227, 243}; 
unsigned char b[16]={255, 247, 239, 231, 223, 215, 206, 198, 190, 182, 174, 166, 158, 150, 142, 134}; 

#else

#define _EXTERN_ extern
extern unsigned char cr[16];
extern unsigned char g[16];
extern unsigned char b[16];

#endif

_EXTERN_ std::vector<boost::shared_ptr<ros::Publisher> > publishers;
_EXTERN_ pcl::PointCloud<pcl::PointXYZ> cloud;
_EXTERN_ ros::Time laser_ts;
_EXTERN_ int flag_msg_received;
_EXTERN_ ros::NodeHandle *pn; //The node handle
#endif