Class PatchWork

include/patchwork/patchwork.hpp:130–351

template <typename PointT>
class PatchWork {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef std::vector<Patch<PointT>> Ring;
  typedef std::vector<Ring> RegionwisePatches;

  PatchWork() {}

  std::string frame_patchwork = "map";

  template <typename T>
  bool condParam(ros::NodeHandle *nh,
                 const std::string &param_name,
                 T &param_val,
                 const T &default_val,
                 const std::string &prefix = "/patchwork") const {
    if (nh->hasParam(prefix + "/" + param_name)) {
      if (nh->getParam(prefix + "/" + param_name, param_val)) {
        ROS_INFO_STREAM("param '" << prefix << "/" << param_name << "' -> '" << param_val << "'");
        return true;
      }
    } else if (nh->hasParam(ros::this_node::getName() + "/" + param_name)) {
      if (nh->getParam(ros::this_node::getName() + "/" + param_name, param_val)) {
        ROS_INFO_STREAM("param '" << ros::this_node::getName() << "/" << param_name << "' -> '"
                                  << param_val << "'");
        return true;
      }
    }
    param_val = default_val;
    ROS_INFO_STREAM("param '" << param_name << "' -> '" << param_val << "' (default)");
    return false;
  }

  explicit PatchWork(ros::NodeHandle *nh) {
    // Init ROS related
    ROS_INFO("Inititalizing PatchWork...");
    condParam(nh, "verbose", verbose_, false);
    condParam(nh, "sensor_height", sensor_height_, 1.723, "");
    condParam(nh, "sensor_model", sensor_model_, std::string("HDL-64E"), "");

    condParam(nh, "ATAT/ATAT_ON", ATAT_ON_, false);
    condParam(nh, "ATAT/max_r_for_ATAT", max_r_for_ATAT_, 5.0);
    condParam(nh, "ATAT/num_sectors_for_ATAT", num_sectors_for_ATAT_, 20);
    condParam(nh, "ATAT/noise_bound", noise_bound_, 0.2);

    condParam(nh, "num_iter", num_iter_, 3);
    condParam(nh, "num_lpr", num_lpr_, 20);
    condParam(nh, "num_min_pts", num_min_pts_, 10);
    condParam(nh, "th_seeds", th_seeds_, 0.4);
    condParam(nh, "th_dist", th_dist_, 0.3);
    condParam(nh, "max_r", max_range_, 80.0);
    condParam(nh, "min_r", min_range_,
              2.7);  // It should cover the body size of the car.
    condParam(nh, "uniform/num_rings", num_rings_, 30);
    condParam(nh, "uniform/num_sectors", num_sectors_, 108);
    condParam(nh, "uprightness_thr", uprightness_thr_,
              0.5);  // The larger, the more strict