cluster.hpp

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#pragma once
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <string>
#include <tuple>
#include <vector>
 
#include "center_calculation/centroid_calculation.hpp"
#include "center_calculation/circunference_center_calculation.hpp"
#include "utils/lidar_point.hpp"
 
class Cluster {
public:
  explicit Cluster(const sensor_msgs::msg::PointCloud2::SharedPtr& point_cloud,
                   const std::vector<int>& point_indices);
 
  Eigen::Vector4f get_centroid();
 
  Eigen::Vector4f get_center(Plane& plane);
 
  std::string get_color();
 
  void set_color(const std::string& new_color);
 
  void set_point_indices(const std::vector<int>& new_point_indices);
 
  const std::vector<int>& get_point_indices();
 
  const sensor_msgs::msg::PointCloud2::SharedPtr& get_point_cloud();
 
  void set_confidence(double newConfidence);
 
  double get_confidence();
 
  void set_z_score(double mean_x, double std_dev_x, double mean_y, double std_dev_y);
 
  double get_z_score_x() const;
 
  double get_z_score_y() const;
 
  static std::tuple<double, double, double, double> calculate_mean_and_std_dev(
      std::vector<Cluster>& clusters);
 
  static void set_z_scores(std::vector<Cluster>& clusters);
 
  bool get_is_large();
 
  void set_is_large();
 
private:
  const sensor_msgs::msg::PointCloud2::SharedPtr
      _point_cloud_;                   
  std::vector<int> _point_indices_;    
  std::string _color_ = "undefined";   
  Eigen::Vector4f _centroid_;          
  Eigen::Vector4f _center_;            
  bool _centroid_is_defined_ = false;  
  bool _center_is_defined_ = false;    
  double _confidence_ = 0;             
  double _z_score_x_ = 0;
  double _z_score_y_ = 0;
  bool _is_large_ = false;  
 
  static constexpr auto center_calculator =
      CircunferenceCenterCalculator();  
  static constexpr auto centroid_calculator =
      CentroidCalculator();  
};