59 lines
1.5 KiB
C++
59 lines
1.5 KiB
C++
#pragma once
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#include "common/common.h"
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#include "oh_my_loam/base/feature.h"
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#include "oh_my_loam/base/helper.h"
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#include "oh_my_loam/base/types.h"
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#include "oh_my_loam/visualizer/extractor_visualizer.h"
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namespace oh_my_loam {
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class Extractor {
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public:
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Extractor() = default;
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virtual ~Extractor() = default;
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bool Init();
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void Process(double timestamp, const common::PointCloudConstPtr &cloud,
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std::vector<Feature> *const features);
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int num_scans() const {
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return num_scans_;
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}
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protected:
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virtual int GetScanID(const common::Point &pt) const = 0;
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virtual void SplitScan(const common::PointCloud &cloud,
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std::vector<TCTPointCloud> *const scans) const;
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virtual void ComputeCurvature(TCTPointCloud *const scan) const;
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virtual void AssignType(TCTPointCloud *const scan) const;
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virtual void GenerateFeature(const TCTPointCloud &scan,
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Feature *const feature) const;
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virtual void Visualize(const common::PointCloudConstPtr &cloud,
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const std::vector<Feature> &features,
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double timestamp = 0.0);
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int num_scans_ = 0;
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YAML::Node config_;
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std::unique_ptr<ExtractorVisualizer> visualizer_{nullptr};
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bool verbose_ = false;
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private:
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void UpdateNeighborsPicked(const TCTPointCloud &scan, size_t ix,
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std::vector<bool> *const picked) const;
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bool is_vis_ = false;
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DISALLOW_COPY_AND_ASSIGN(Extractor);
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};
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} // namespace oh_my_loam
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