80 lines
1.8 KiB
Text
80 lines
1.8 KiB
Text
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// =====================================================================================
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//
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// Filename: scan_ransac.h
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//
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// Description:
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//
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// Version: 1.0
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// Created: 09/27/2010 01:21:49 PM
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// Revision: none
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// Compiler: g++
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//
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// Author: Jan Elseberg (), jelseber@uos.de
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// Company: Universitaet Osnabrueck
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//
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// =====================================================================================
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#ifndef __SCAN_RANSAC_H__
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#define __SCAN_RANSAC_H__
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#include <pthread.h>
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#include "numbers.h"
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void *dummy(void *);
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class NumberDetector {
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public:
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vector<const double *> *scan_points;
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NumberDetector(vector<const double *> *points, const char *number_topic, bool _visualize) : visualize(_visualize) {
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//number_publisher = n.advertise<sickday::StampedNumbers>(number_topic, 10);
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//marker_publisher = n.advertise<visualization_msgs::MarkerArray>("Marker_array", 10);
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scan_points = points;
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/*
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sn.set_numbers_size(10);
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sn.set_board_p_size(10);
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sn.set_char_p_size(10);
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sn.set_angle_size(10);
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*/
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for (unsigned int i = 0; i < 10; i++) {
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detectedNumbers[i] = numberConsensus(i);
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/*
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sn.numbers[i].header.frame_id = "/map";
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sn.board_p[i] = 0;
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sn.char_p[i] = 0;
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sn.angle[i] = 0;
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*/
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}
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running = true;
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ransac_thread = new pthread_t();
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pthread_create( ransac_thread, NULL, dummy , (void*)this);
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}
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~NumberDetector() {
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running = false;
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pthread_join(*ransac_thread, NULL);
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}
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void RANSAC(vector<const double *> &scan_points);
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private:
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bool FindNumber(vector<double *> &points, double plane[4]);
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void printNumbers();
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pthread_t *ransac_thread;
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numberConsensus detectedNumbers[10];
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// sickday::StampedNumbers sn;
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bool visualize;
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bool running;
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};
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#endif
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