$search

model_fitter.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

// Author(s): Marius Muja and Matei Ciocarlie

#ifndef _MODEL_FITTER_H_
#define _MODEL_FITTER_H_

#include <string>
#include <vector>
#include <algorithm>

#include "tf/transform_datatypes.h"

#include "geometry_msgs/Point32.h"
#include "sensor_msgs/PointCloud.h"
#include "arm_navigation_msgs/Shape.h"

namespace distance_field {
  class PropagationDistanceField;
}

namespace tabletop_object_detector {


class ModelFitInfo {
 private:
  int model_id_;
  geometry_msgs::Pose fit_pose_;
  float score_;

 public:
  ModelFitInfo(int model_id, const geometry_msgs::Pose &pose, float score) : model_id_(model_id), 
    fit_pose_(pose), score_(score) {}

  int getModelId() const {return model_id_;}
  float getScore() const {return score_;} 
  geometry_msgs::Pose getPose() const {return fit_pose_;}

  static bool compareScores(const ModelFitInfo &mf1, const ModelFitInfo &mf2)
  {
    return mf1.score_ < mf2.score_;
  }  
};


class ModelToCloudFitter
{
 protected:
  int model_id_;

  void sampleMesh(const arm_navigation_msgs::Shape &mesh, std::vector<btVector3> &btVectors, double resolution);

 public:

  ModelToCloudFitter() : model_id_(-1) {}
  virtual ~ModelToCloudFitter(){}

  void setModelId(int id){model_id_=id;}
  int getModelId() const {return model_id_;}

  //----------------------------------------------------------------
  // Be sure to define these functions if you define your new awesome fitter:
  //----------------------------------------------------------------

  // void initializeFromMesh(const arm_navigation_msgs::Shape &mesh) {}

  // template <class PointCloudType>
  //  ModelFitInfo fitPointCloud(const PointCloudType &cloud);
};


class DistanceFieldFitter : public ModelToCloudFitter
{
 protected:
  distance_field::PropagationDistanceField* distance_voxel_grid_;
  double distance_field_resolution_;

  float truncate_value_;

  void initializeFromBtVectors(const std::vector<btVector3> &points);

 public:
  DistanceFieldFitter();
  ~DistanceFieldFitter();
  
  void initializeFromMesh(const arm_navigation_msgs::Shape &mesh);
};

} //namespace tabletop_object_detector

#endif

---

tabletop_object_detector
Author(s): Marius Muja and Matei Ciocarlie
autogenerated on Tue Mar 5 12:26:37 2013