door_handle_detector: projections.h Source File

00001 /*
00002  * Copyright (c) 2008 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
00003  *
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  *
00027  * $Id$
00028  *
00029  */
00030 
00033 #ifndef _CLOUD_GEOMETRY_PROJECTIONS_H_
00034 #define _CLOUD_GEOMETRY_PROJECTIONS_H_
00035 
00036 // ROS includes
00037 #include <geometry_msgs/Point32.h>
00038 #include <geometry_msgs/Polygon.h>
00039 
00040 namespace cloud_geometry
00041 {
00042 
00043   namespace projections
00044   {
00045 
00047 
00052     inline void
00053       pointToPlane (const geometry_msgs::Point32 &p, geometry_msgs::Point32 &q, const std::vector<double> &plane_coefficients)
00054     {
00055       double distance = plane_coefficients.at (0) * p.x +
00056                         plane_coefficients.at (1) * p.y +
00057                         plane_coefficients.at (2) * p.z +
00058                         plane_coefficients.at (3);
00059       // Calculate the projection of the point on the plane
00060       q.x = p.x - distance * plane_coefficients.at (0);
00061       q.y = p.y - distance * plane_coefficients.at (1);
00062       q.z = p.z - distance * plane_coefficients.at (2);
00063     }
00064 
00066 
00071     inline void
00072       pointsToPlane (const geometry_msgs::Polygon &p, geometry_msgs::Polygon &q, const std::vector<double> &plane_coefficients)
00073     {
00074       q.points.resize (p.points.size ());
00075       for (unsigned int i = 0; i < p.points.size (); i++)
00076         pointToPlane (p.points[i], q.points[i], plane_coefficients);
00077     }
00078 
00080 
00085     inline void
00086       pointsToPlane (sensor_msgs::PointCloud &p, const std::vector<int> &indices, const std::vector<double> &plane_coefficients)
00087     {
00088       for (unsigned int i = 0; i < indices.size (); i++)
00089         pointToPlane (p.points[indices.at (i)], p.points[indices.at (i)], plane_coefficients);
00090     }
00091 
00093 
00099     inline void
00100       pointsToPlane (const sensor_msgs::PointCloud &p, const std::vector<int> &indices, sensor_msgs::PointCloud &q, const std::vector<double> &plane_coefficients)
00101     {
00102       q.points.resize (indices.size ());
00103       for (unsigned int i = 0; i < indices.size (); i++)
00104         pointToPlane (p.points[indices.at (i)], q.points[i], plane_coefficients);
00105     }
00106 
00108 
00114     inline void
00115       pointToPlane (const geometry_msgs::Point32 &p, geometry_msgs::Point32 &q, const std::vector<double> &plane_coefficients,
00116                     double &distance)
00117     {
00118       distance = plane_coefficients.at (0) * p.x +
00119                  plane_coefficients.at (1) * p.y +
00120                  plane_coefficients.at (2) * p.z +
00121                  plane_coefficients.at (3);
00122       // Calculate the projection of the point on the plane
00123       q.x = p.x - distance * plane_coefficients.at (0);
00124       q.y = p.y - distance * plane_coefficients.at (1);
00125       q.z = p.z - distance * plane_coefficients.at (2);
00126     }
00127 
00128   }
00129 }
00130 
00131 #endif