semantic_point_annotator: sac.cpp 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: sac.cpp 21050 2009-08-07 21:24:30Z jfaustwg $
00028  *
00029  */
00030 
00033 #include <sac.h>
00034 
00035 using namespace sample_consensus;
00036 
00038 
00040 sensor_msgs::PointCloud
00041   SAC::getPointCloud (std::vector<int> indices)
00042 {
00043   sensor_msgs::PointCloud i_points;
00044 
00045   // Allocate enough space
00046   i_points.points.resize (indices.size ());
00047   i_points.set_channels_size (sac_model_->getCloud ()->get_channels_size ());
00048 
00049   // Create the channels
00050   for (unsigned int d = 0; d < i_points.get_channels_size (); d++)
00051   {
00052     i_points.channels[d].name = sac_model_->getCloud ()->channels[d].name;
00053     i_points.channels[d].values.resize (indices.size ());
00054   }
00055 
00056   // Copy the data
00057   for (unsigned int i = 0; i < i_points.points.size (); i++)
00058   {
00059     i_points.points[i].x = sac_model_->getCloud ()->points[indices.at (i)].x;
00060     i_points.points[i].y = sac_model_->getCloud ()->points[indices.at (i)].y;
00061     i_points.points[i].z = sac_model_->getCloud ()->points[indices.at (i)].z;
00062     for (unsigned int d = 0; d < i_points.get_channels_size (); d++)
00063       i_points.channels[d].values[i] = sac_model_->getCloud ()->channels[d].values[indices.at (i)];
00064   }
00065 
00066   return (i_points);
00067 }