ScanClustering.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/interface/units/LaserScannerUnit.h>
 
namespace armarx::navigation::components::laser_scanner_feature_extraction
{
    namespace detail
    {
        struct ScanClusteringParams
        {
            // Clustering options to decide whether a point belongs to the cluster
            float distanceThreshold; // [mm]
            float angleThreshold; // [rad]
 
            /// Range filter: only consider points that are closer than maxDistance
            float maxDistance; // [mm]
        };
    } // namespace detail
 
    class ScanClustering
    {
    public:
        using Params = detail::ScanClusteringParams;
        using Clusters = std::vector<LaserScan>;
 
        ScanClustering(const Params& params);
 
        /**
        * @brief Performs cluster detection on a full laser scan.
        *
        * @param scan A full scan
        * @return The input scan split into clusters.
        */
        Clusters detectClusters(const LaserScan& scan);
 
    protected:
        const LaserScan& cluster() const;
 
        bool add(const LaserScanStep& scanStep);
        bool supports(const LaserScanStep& scanStep);
 
        void clear();
 
    private:
        LaserScan scan;
 
        const Params params;
    };
 
} // namespace armarx::navigation::components::laser_scanner_feature_extraction