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Merge pull request #8 from jkk-research/refactor
Refactor
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| Original file line number | Diff line number | Diff line change |
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| #pragma once | ||
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| /*Basic includes.*/ | ||
| #include <stdio.h> | ||
| #include <iostream> | ||
| #include <algorithm> | ||
| #include <math.h> | ||
| #include <cmath> | ||
| #include <vector> | ||
| #include <memory> | ||
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| /*Includes for ROS.*/ | ||
| #include <ros/ros.h> | ||
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| /*Includes for Markers.*/ | ||
| #include <visualization_msgs/Marker.h> | ||
| #include <visualization_msgs/MarkerArray.h> | ||
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| /*Includes for GUI.*/ | ||
| #include <dynamic_reconfigure/server.h> | ||
| #include <urban_road_filter/LidarFiltersConfig.h> | ||
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| /*Includes for PCL.*/ | ||
| #include <pcl_conversions/pcl_conversions.h> | ||
| #include <pcl/point_cloud.h> | ||
| #include <pcl_ros/point_cloud.h> | ||
| #include <pcl/point_types.h> | ||
| #include <pcl/filters/conditional_removal.h> | ||
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| /*ramer-douglas-peucker*/ | ||
| #include <boost/geometry.hpp> | ||
| #include <boost/geometry/geometries/linestring.hpp> | ||
| #include <boost/geometry/geometries/point_xy.hpp> | ||
| #include <boost/assign.hpp> | ||
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| using namespace boost::assign; | ||
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| typedef boost::geometry::model::d2::point_xy<float> xy; | ||
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| struct Point2D{ | ||
| pcl::PointXYZI p; | ||
| float d; | ||
| float alpha; | ||
| short isCurbPoint; | ||
| }; | ||
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| struct Point3D:public Point2D{ | ||
| float newY; | ||
| }; | ||
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| struct polar //polar-coordinate struct for the points | ||
| { | ||
| int id; //original ID of point (from input cloud) | ||
| float r; //radial coordinate | ||
| float fi; //angular coordinate (ccw angle from x-axis) | ||
| }; | ||
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| struct box //struct for detection beams | ||
| { | ||
| std::vector<polar> p; //points within the beam's area | ||
| box *l, *r; //pointer to adjacent beams (currently not used) | ||
| bool yx; //whether it is aligned more with the y-axis (than the x-axis) | ||
| float o, d; //internal parameters (trigonometry) | ||
| }; | ||
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| namespace params{ | ||
| extern std::string fixedFrame; /* Fixed Frame.*/ | ||
| extern std::string topicName; /* subscribed topic.*/ | ||
| extern bool x_zero_method, z_zero_method, star_shaped_method ; /*Methods of roadside detection*/ | ||
| extern bool blind_spots; /*Vakfolt javító algoritmus.*/ | ||
| extern int xDirection; /*A vakfolt levágás milyen irányú.*/ | ||
| extern float interval; /*A LIDAR vertikális szögfelbontásának, elfogadott intervalluma.*/ | ||
| extern float curbHeight; /*Becsült minimum szegély magasság.*/ | ||
| extern int curbPoints; /*A pontok becsült száma, a szegélyen.*/ | ||
| extern float beamZone; /*A vizsgált sugárzóna mérete.*/ | ||
| extern float angleFilter1; /*X = 0 érték mellett, három pont által bezárt szög.*/ | ||
| extern float angleFilter2; /*Z = 0 érték mellett, két vektor által bezárt szög.*/ | ||
| extern float angleFilter3; /*Csaplár László kódjához szükséges. Sugár irányú határérték (fokban).*/ | ||
| extern float min_X, max_X, min_Y, max_Y, min_Z, max_Z; /*A vizsgált terület méretei.*/ | ||
| extern int dmin_param; //(see below) | ||
| extern float kdev_param; //(see below) | ||
| extern float kdist_param; //(see below) | ||
| extern bool polysimp_allow; /*polygon-eygszerűsítés engedélyezése*/ | ||
| extern bool zavg_allow; /*egyszerűsített polygon z-koordinátái átlagból (engedély)*/ | ||
| extern float polysimp; /*polygon-egyszerűsítési tényező (Ramer-Douglas-Peucker)*/ | ||
| extern float polyz; /*manuálisan megadott z-koordináta (polygon)*/ | ||
| }; | ||
| /*For pointcloud filtering*/ | ||
| template <typename PointT> | ||
| class FilteringCondition : public pcl::ConditionBase<PointT> | ||
| { | ||
| public: | ||
| typedef std::shared_ptr<FilteringCondition<PointT>> Ptr; | ||
| typedef std::shared_ptr<const FilteringCondition<PointT>> ConstPtr; | ||
| typedef std::function<bool(const PointT&)> FunctorT; | ||
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| FilteringCondition(FunctorT evaluator): | ||
| pcl::ConditionBase<PointT>(),_evaluator( evaluator ) | ||
| {} | ||
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| virtual bool evaluate (const PointT &point) const { | ||
| // just delegate ALL the work to the injected std::function | ||
| return _evaluator(point); | ||
| } | ||
| private: | ||
| FunctorT _evaluator; | ||
| }; | ||
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| class Detector{ | ||
| public: | ||
| Detector(ros::NodeHandle* nh); | ||
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| int partition(std::vector<std::vector<Point3D>>& array3D, int arc,int low, int high); | ||
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| void quickSort(std::vector<std::vector<Point3D>>& array3D, int arc, int low, int high); | ||
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| //void filtered(const pcl::PointCloud<pcl::PointXYZI> &cloud); | ||
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| void filtered(const pcl::PointCloud<pcl::PointXYZI> &cloud); | ||
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| void starShapedSearch(std::vector<Point2D>& array2D); | ||
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| void beam_init(); | ||
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| void xZeroMethod(std::vector<std::vector<Point3D>>& array3D,int index,int* indexArray); | ||
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| void zZeroMethod(std::vector<std::vector<Point3D>>& array3D,int index,int* indexArray); | ||
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| void blindSpots(std::vector<std::vector<Point3D>>& array3D,int index,int* indexArray,float* maxDistance); | ||
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| private: | ||
| ros::Publisher pub_road; | ||
| ros::Publisher pub_high; | ||
| ros::Publisher pub_box; | ||
| ros::Publisher pub_pobroad; | ||
| ros::Publisher pub_marker; | ||
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| ros::Subscriber sub; | ||
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| boost::geometry::model::linestring<xy> line; | ||
| boost::geometry::model::linestring<xy> simplified; | ||
| }; |
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