processPointClouds.h

#ifndef PROCESSPOINTCLOUDS_H_
#define PROCESSPOINTCLOUDS_H_

#include <pcl/io/pcd_io.h>
#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/crop_box.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/common/transforms.h>
#include <iostream>
#include <string>
#include <vector>
#include <ctime>
#include <chrono>
#include "render/box.h"
#include <boost/filesystem.hpp>
#include <unordered_set>
#include "TreeKD.h"

template<typename PointT>
class ProcessPointClouds {
public:

    ProcessPointClouds();

    ~ProcessPointClouds();

    typename pcl::PointCloud<PointT>::Ptr FilterCloud(typename pcl::PointCloud<PointT>::Ptr cloud, float filterRes, Eigen::Vector4f minPoint, Eigen::Vector4f maxPoint);

    typename std::pair<typename pcl::PointCloud<PointT>::Ptr, typename pcl::PointCloud<PointT>::Ptr> SeparateClouds(pcl::PointIndices::Ptr inliers, typename pcl::PointCloud<PointT>::Ptr cloud);

    typename std::pair<typename pcl::PointCloud<PointT>::Ptr, typename pcl::PointCloud<PointT>::Ptr> SegmentPlane(typename pcl::PointCloud<PointT>::Ptr cloud, int maxIterations, float distanceThreshold);

    typename std::vector<typename pcl::PointCloud<PointT>::Ptr> Clustering(typename pcl::PointCloud<PointT>::Ptr cloud, float clusterTolerance, int minSize, int maxSize);

    Box BoundingBox(typename pcl::PointCloud<PointT>::Ptr cluster);

    void savePcd(typename pcl::PointCloud<PointT>::Ptr cloud, std::string file);

    typename pcl::PointCloud<PointT>::Ptr loadPcd(std::string file);

    std::vector<boost::filesystem::path> streamPcd(const std::string& dataPath);

    BoxQ BoundingBoxQ(typename pcl::PointCloud<PointT>::Ptr cluster);

    typename std::pair<typename pcl::PointCloud<PointT>::Ptr, typename pcl::PointCloud<PointT>::Ptr> SegmentPlane3D(typename pcl::PointCloud<PointT>::Ptr cloud, int maxIterations, float distanceThreshold);

    typename std::vector<typename pcl::PointCloud<PointT>::Ptr> Clustering3D(typename pcl::PointCloud<PointT>::Ptr cloud, float clusterTolerance, int minSize, int maxSize);
};

#endif /* PROCESSPOINTCLOUDS_H_ */