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00001 /**************************************************************** 00002 * 00003 * Copyright (c) 2011 00004 * 00005 * Fraunhofer Institute for Manufacturing Engineering 00006 * and Automation (IPA) 00007 * 00008 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00009 * 00010 * Project name: care-o-bot 00011 * ROS stack name: cob_environment_perception_intern 00012 * ROS package name: cob_3d_mapping_semantics 00013 * Description: 00014 * 00015 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00016 * 00017 * Author: Georg Arbeiter, email:georg.arbeiter@ipa.fhg.de 00018 * Supervised by: Georg Arbeiter, email:georg.arbeiter@ipa.fhg.de 00019 * 00020 * Date of creation: 11/2012 00021 * ToDo: 00022 * 00023 * 00024 * 00025 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00026 * 00027 * Redistribution and use in source and binary forms, with or without 00028 * modification, are permitted provided that the following conditions are met: 00029 * 00030 * * Redistributions of source code must retain the above copyright 00031 * notice, this list of conditions and the following disclaimer. 00032 * * Redistributions in binary form must reproduce the above copyright 00033 * notice, this list of conditions and the following disclaimer in the 00034 * documentation and/or other materials provided with the distribution. 00035 * * Neither the name of the Fraunhofer Institute for Manufacturing 00036 * Engineering and Automation (IPA) nor the names of its 00037 * contributors may be used to endorse or promote products derived from 00038 * this software without specific prior written permission. 00039 * 00040 * This program is free software: you can redistribute it and/or modify 00041 * it under the terms of the GNU Lesser General Public License LGPL as 00042 * published by the Free Software Foundation, either version 3 of the 00043 * License, or (at your option) any later version. 00044 * 00045 * This program is distributed in the hope that it will be useful, 00046 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00047 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00048 * GNU Lesser General Public License LGPL for more details. 00049 * 00050 * You should have received a copy of the GNU Lesser General Public 00051 * License LGPL along with this program. 00052 * If not, see <http://www.gnu.org/licenses/>. 00053 * 00054 ****************************************************************/ 00055 //internal include 00056 #include "cob_3d_mapping_semantics/supporting_plane_extraction.h" 00057 #include <ros/console.h> 00058 00059 using namespace cob_3d_mapping; 00060 00061 bool 00062 SupportingPlaneExtraction::getSupportingPlane(std::vector<Polygon::Ptr>& polys, Polygon& sp) 00063 { 00064 if(polys.size() == 0) 00065 { 00066 ROS_ERROR("Input polygons not set, aborting..."); 00067 return false; 00068 } 00069 std::vector<Polygon::Ptr> cands; 00070 for( unsigned int i=0; i<polys.size(); i++) 00071 { 00072 double a = polys[i]->computeArea(); 00073 std::cout << "Poly " << i << " (id " << polys[i]->id << " has an area of " << a << std::endl; 00074 if( a > area_min_ && a < area_max_) 00075 { 00076 std::cout << "\tadding" << std::endl; 00077 cands.push_back(polys[i]); 00078 } 00079 } 00080 if( cands.size() == 0) return false; 00081 int index = -1; 00082 double dist_min = distance_max_; 00083 for( unsigned int i=0; i<cands.size(); i++) 00084 { 00085 double d = cands[i]->computeDistanceFromViewpoint(); 00086 std::cout << "Cand " << i << " has a distance of " << d << std::endl; 00087 if(d < distance_max_ && d > distance_min_ && d < dist_min) 00088 { 00089 dist_min = d; 00090 index = i; 00091 } 00092 } 00093 if( index == -1) return false; 00094 //TODO: check distance 00095 std::cout << cands[index]->computeArea() << ", " << cands[index]->computeDistanceFromViewpoint() << std::endl; 00096 sp = *cands[index]; 00097 return true;//polys[index]->id; 00098 } 00099 00100 00101 00102