50 lines
1.3 KiB
C++
50 lines
1.3 KiB
C++
#pragma once
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#include "feature_points.h"
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#include "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(const YAML::Node& config);
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void Process(const PointCloud& cloud, FeaturePoints* const feature);
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int num_scans() const { return num_scans_; }
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protected:
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virtual int GetScanID(const Point& pt) const = 0;
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int num_scans_ = 0;
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YAML::Node config_;
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private:
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void Visualize(const PointCloud& cloud, const FeaturePoints& feature_pts,
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double timestamp = std::nan(""));
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void SplitScan(const PointCloud& cloud,
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std::vector<TCTPointCloud>* const scans) const;
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void ComputePointCurvature(TCTPointCloud* const scan,
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bool remove_nan = true) const;
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void AssignPointType(TCTPointCloud* const scan) const;
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void SetNeighborsPicked(const TCTPointCloud& scan, size_t ix,
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std::vector<bool>* const picked) const;
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void GenerateFeaturePoints(const TCTPointCloud& scan,
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FeaturePoints* const feature) const;
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bool is_vis_ = false;
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std::unique_ptr<ExtractorVisualizer> visualizer_{nullptr};
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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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