Class PatchWork

include/patchwork.hpp:38–257

template<typename PointT>
class PatchWork {

public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef std::vector<pcl::PointCloud<PointT> > Ring;
    typedef std::vector<Ring>                     Zone;

    PatchWork() {};

    PatchWork(ros::NodeHandle *nh) : node_handle_(*nh) {
        // Init ROS related
        // ROS_INFO("Inititalizing PatchWork...");

        node_handle_.param<double>("/sensor_height", sensor_height_, 1.723);
        node_handle_.param<bool>("/patchwork/verbose", verbose_, false);

        node_handle_.param("/patchwork/num_iter", num_iter_, 3);
        node_handle_.param("/patchwork/num_lpr", num_lpr_, 20);
        node_handle_.param("/patchwork/num_min_pts", num_min_pts_, 10);
        node_handle_.param("/patchwork/th_seeds", th_seeds_, 0.4);
        node_handle_.param("/patchwork/th_dist", th_dist_, 0.3);
        node_handle_.param("/patchwork/max_r", max_range_, 80.0);
        node_handle_.param("/patchwork/min_r", min_range_, 2.7); // It indicates bodysize of the car.
        node_handle_.param("/patchwork/uniform/num_rings", num_rings_, 30);
        node_handle_.param("/patchwork/uniform/num_sectors", num_sectors_, 108);
        node_handle_.param("/patchwork/uprightness_thr", uprightness_thr_, 0.5); // The larger, the more strict
        node_handle_.param("/patchwork/adaptive_seed_selection_margin", adaptive_seed_selection_margin_,
                           -1.1); // The more larger, the more soft

        // It is not in the paper
        // It is also not matched our philosophy, but it is employed to reject some FPs easily & intuitively.
        // For patchwork, it is only applied on Z3 and Z4
        node_handle_.param<bool>("/patchwork/using_global_elevation", using_global_thr_, true);
        node_handle_.param("/patchwork/global_elevation_threshold", global_elevation_thr_, 0.0);

        if (using_global_thr_) {
            cout << "\033[1;33m[Warning] Global elevation threshold is turned on :" << global_elevation_thr_ << "\033[0m" << endl;
        } else { cout << "Global thr. is not in use" << endl; }

        // ROS_INFO("Sensor Height: %f", sensor_height_);
        // ROS_INFO("Num of Iteration: %d", num_iter_);
        // ROS_INFO("Num of LPR: %d", num_lpr_);
        // ROS_INFO("Num of min. points: %d", num_min_pts_);
        // ROS_INFO("Seeds Threshold: %f", th_seeds_);
        // ROS_INFO("Distance Threshold: %f", th_dist_);
        // ROS_INFO("Max. range:: %f", max_range_);
        // ROS_INFO("Min. range:: %f", min_range_);
        // ROS_INFO("Num. rings: %d", num_rings_);
        // ROS_INFO("Num. sectors: %d", num_sectors_);
        // ROS_INFO("adaptive_seed_selection_margin: %f", adaptive_seed_selection_margin_);

        // CZM denotes 'Concentric Zone Model'. Please refer to our paper
        node_handle_.getParam("/patchwork/czm/num_zones", num_zones_);
        node_handle_.getParam("/patchwork/czm/num_sectors_each_zone", num_sectors_each_zone_);
        node_handle_.getParam("/patchwork/czm/num_rings_each_zone", num_rings_each_zone_);
        node_handle_.getParam("/patchwork/czm/min_ranges_each_zone", min_ranges_);
        node_handle_.getParam("/patchwork/czm/elevation_thresholds", elevation_thr_);