Vzense-Tof-3D/ceres_detect/wheel_detector.h

#pragma once

#include "thread/singleton.h"
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/statistical_outlier_removal.h>

class singleWheelDetector : public Singleton<singleWheelDetector> {
    friend class Singleton<singleWheelDetector>;

public:
    struct WheelDetectResult {
        bool haveCloud = false;
        bool segmentOk = false;
        bool detectOk = false;
        pcl::PointXYZ center;
        float confidence = 0;
        float theta = 0;

        void reset() {
            haveCloud = false;
            segmentOk = false;
            detectOk = false;
            center.x = 0;
            center.y = 0;
            center.z = 0;
            confidence = 0;
            theta = 0;
        }

        std::string info() {
            char str[512];
            sprintf(str, "x: %.3f, y: %.3f, z: %.3f, theta: %.3f", center.x, center.y, center.z, theta);
            return str;
        }
    };

    singleWheelDetector &operator=(const singleWheelDetector &) = delete;

    ~singleWheelDetector() override = default;

    // 检测底盘z方向值，去中心，使用mat加速
    bool detect(pcl::PointCloud<pcl::PointXYZ>::Ptr in_cloud_ptr, pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud_ptr,
                WheelDetectResult &result);

protected:
    // 父类的构造函数必须保护，子类的构造函数必须私有。
    singleWheelDetector();

private:
    std::vector<double> line_;
};