Readme

  segmenter   object_analytics_nodelet::segmenter
                                   2. 点云分割处理器 segmenter
                                     // 订阅 点云话题消息
                                     sub_ = nh.subscribe(Const::kTopicPC2, 1, &SegmenterNodelet::cbSegment, this);
                                     // 发布 点云物体数组
                                     pub_ = nh.advertise<object_analytics_msgs::ObjectsInBoxes3D>(Const::kTopicSegmentation, 1);
                                     ObjectsInBoxes3D ： x，y，z坐标最大最小值，投影到rgb图像平面上的 ROI框

 object_analytics_launch/launch/includes/segmenter.launch
 输入: pointcloud   3d点
 输出: segmentation 分割
 object_analytics_nodelet/segmenter/SegmenterNodelet 
 object_analytics_nodelet/src/segmenter/segmenter_nodelet.cpp
 订阅发布话题后
 std::unique_ptr<Segmenter> impl_;
 点云话题回调函数:
    boost::shared_ptr<ObjectsInBoxes3D> msg = boost::make_shared<ObjectsInBoxes3D>();// 3d框
    msg->header = points->header;
    impl_->segment(points, msg);//检测
    pub_.publish(msg);          //发布检测消息
    
 object_analytics_nodelet/src/segmenter/segmenter.cpp
 a. 首先　ros点云消息转化成 pcl点云消息
       const sensor_msgs::PointCloud2::ConstPtr& points；
       PointCloudT::Ptr pointcloud(new PointCloudT);
       fromROSMsg<PointT>(*points, pcl_cloud);
       
 b. 执行分割　Segmenter::doSegment()
    std::vector<PointIndices> cluster_indices;// 点云所属下标
    PointCloudT::Ptr cloud_segment(new PointCloudT);// 分割点云
      std::unique_ptr<AlgorithmProvider> provider_;
    std::shared_ptr<Algorithm> seg = provider_->get();//　分割算法
    seg->segment(cloud, cloud_segment, cluster_indices);// 执行分割
    
     AlgorithmProvider -> virtual std::shared_ptr<Algorithm> get() = 0;
     Algorithm::segment()
     object_analytics_nodelet/src/segmenter/organized_multi_plane_segmenter.cpp
     class OrganizedMultiPlaneSegmenter : public Algorithm
     OrganizedMultiPlaneSegmenter 类集成　Algorithm类
     分割算法 segment(){} 基于pcl算法
       1. 提取点云法线 OrganizedMultiPlaneSegmenter::estimateNormal()
       2. 分割平面     OrganizedMultiPlaneSegmenter::segmentPlanes()           平面系数模型分割平面
       3. 去除平面后 分割物体  OrganizedMultiPlaneSegmenter::segmentObjects() 　欧氏距离聚类分割
     
 c. 生成消息  Segmenter::composeResult()
    for (auto& obj : objects)
    {
    object_analytics_msgs::ObjectInBox3D oib3;
    oib3.min = obj.getMin();
    oib3.max = obj.getMax();
    oib3.roi = obj.getRoi();
    msg->objects_in_boxes.push_back(oib3);
    }