plane_detection.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, Jeannette Bohg and Mårten Björkman ({bohg,celle}@csc.kth.se) 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are 00007 * met: 00008 * 00009 * 1.Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * 2.Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 3.The name of Jeannette Bohg or Mårten Björkman may not be used to endorse or 00016 * promote products derived from this software without specific 00017 * prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00020 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00021 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 00022 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 00023 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00024 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00025 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 00026 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 00027 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00028 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00029 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef PLANE_DETECTION 00033 #define PLANE_DETECTION 00034 00035 #include <stereo_msgs/DisparityImage.h> 00036 #include <sensor_msgs/Image.h> 00037 00038 namespace fast_plane_detection { 00039 00040 class PlaneDetection { 00041 00042 public: 00043 PlaneDetection( int drange, int w, int h, 00044 bool find_table, std_msgs::Header img_header); 00045 ~PlaneDetection(); 00046 00047 void Update( const stereo_msgs::DisparityImage::ConstPtr& 00048 disparity_image ); 00049 00050 void GetPlaneParameters( float &alpha, float &beta, float &d, 00051 int &min_x, int &max_x, 00052 int &min_y, int &max_y); 00053 void GetLabels(sensor_msgs::Image &image); 00054 00055 void GetSumOfSquaredError(float &error); 00056 void GetNInliers(int &n_inliers); 00057 void GetMeanSquaredError(float &mean_error); 00058 00059 private: 00060 00062 sensor_msgs::Image labels_; 00063 00065 int drange_; 00066 00068 int width_, height_; 00069 00071 int min_x_; int max_x_; 00072 int min_y_; int max_y_; 00073 00076 bool find_table_; 00077 float min_beta_; 00078 00080 float alpha_; 00081 float beta_; 00082 float disp_; 00083 00085 float spread_d_; 00086 00088 float err_; 00089 00091 int n_inliers_; 00092 00093 }; 00094 00095 } // fast_plane_detection 00096 00097 #endif //PLANE_DETECTION