cxx_3d_seg.h

#ifndef CXX_3D_SEG_H
#define CXX_3D_SEG_H

#include <opencv2/core/core.hpp>
#include <opencv2/rgbd.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>

#include <slimage/opencv.hpp>
#include <slimage/algorithm.hpp>
#include <asp/algos.hpp>

#include "super4pcs/algorithms/super4pcs.h"
#include "super4pcs/io/io.h"

namespace cxx_3d_seg {

struct convex_result {
    const cv::Mat &getIndices() const { return indices;}
    const cv::Mat &getWorld() const { return world;}
    const cv::Mat &getNormal() const { return normal;}
    cv::Mat indices;
    cv::Mat world;
    cv::Mat normal;
};

// seg cloud to convex part, sorted by pixel counts
convex_result convex_cloud_seg(cv::Mat& rgb, cv::Mat& depth, cv::Mat& sceneK);

cv::Mat pose_estimation(cv::Mat& cloud, std::string ply_model, int pcs_secends = 1,
                        float LCP_thresh = 0.5);

}


#endif