CObjectCandidateExtraction::CObjectCandidateExtraction(double threshold_points_above_lower_plane, double min_points_per_objects, double spherical_distance) {
this->nodeName = "/CObjectCandidateExtraction";
horizontalSurfaceExtractor = CPlaneExtraction(this->nodeName);
this->fDistance = spherical_distance; // std max Kinect distance
this->threshold_point_above_lower_plane = threshold_points_above_lower_plane;
ROS_INFO_STREAM(" parameter 'threshold_points_above_lower_plane': " << this->threshold_point_above_lower_plane);
this->min_points_per_objects = min_points_per_objects;
ROS_INFO_STREAM(" parameter 'min_points_per_objects': " << this->min_points_per_objects);
/* initialize random seed: */
srand ( time(NULL));
}
CObjectCandidateExtraction::CObjectCandidateExtraction(ros::NodeHandle &nh, std::string nodeName,
float fDistance) {
horizontalSurfaceExtractor = CPlaneExtraction(nodeName);
this->nodeName = nodeName + "/CObjectCandidateExtraction";
this->fDistance = fDistance; // std max Kinect distance
this->nh = nh;
this->nh.param("threshold_points_above_lower_plane", this->threshold_point_above_lower_plane, 0.02);
ROS_INFO_STREAM(" parameter 'threshold_points_above_lower_plane': " << this->threshold_point_above_lower_plane);
this->nh.param("min_points_per_objects", this->min_points_per_objects, 10);
ROS_INFO_STREAM(" parameter 'min_points_per_objects': " << this->min_points_per_objects);
/* initialize random seed: */
srand ( time(NULL));
}
