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cylinder.h

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#ifndef CYLINDER_H_
#define CYLINDER_H_

//general includes
#include <math.h>
#include <sstream>

//cob includes
#include "cob_3d_mapping_common/shape.h"
#include "cob_3d_mapping_common/polygon.h"
extern "C" {
#include "cob_3d_mapping_common/gpc.h"
}
//boost includes
#include <boost/shared_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <boost/lexical_cast.hpp>
//pcl includes
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/centroid.h>
#include <pcl/common/eigen.h>
#ifdef PCL_VERSION_COMPARE
#include <pcl/common/transforms.h>
#else
#include <pcl/common/transform.h>
#endif
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/registration/transforms.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/exceptions.h>
#include <pcl/common/common.h>






namespace cob_3d_mapping{
class Cylinder: public Polygon

{

public:
  typedef boost::shared_ptr<Cylinder> Ptr;



  Cylinder():merged_limit(50)
  {
  }

  //##############Methods to initialize cylinder and its paramers#########

  void ContoursFromCloud(pcl::PointCloud<pcl::PointXYZ>::ConstPtr in_cloud);


  void ContoursFromList( std::vector<std::vector<Eigen::Vector3f> >& in_list);


  void ParamsFromCloud(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr in_cloud, std::vector<int>& indices);


  void ParamsFromShapeMsg();


  virtual void computeAttributes(const Eigen::Vector3f & sym_axis,const Eigen::Vector3f &new_normal, const Eigen::Vector3f & new_origin);


  virtual void transform2tf(Eigen::Affine3f & tf);


  void GrabParams(Cylinder& c_src);


  //################## methods to roll and unroll cylinder###############
  void getCyl3D(Cylinder& c3d);


  void makeCyl3D();


  void makeCyl2D();


  void getCyl2D(Cylinder& c2d);


  void getPt3D(Eigen::Vector3f& pt2d,Eigen::Vector3f& pt3d);



  //################## methods for merging############################
  virtual void isMergeCandidate(const std::vector<Cylinder::Ptr >& cylinder_array,const merge_config& limits,std::vector<int>& intersections);


  virtual void merge(std::vector<Cylinder::Ptr >& c_array);


  virtual void applyWeighting(std::vector<Cylinder::Ptr >& merge_candidates);


  //############## debugging methods ####################
  void dbg_out(pcl::PointCloud<pcl::PointXYZRGB>::Ptr points,std::string& name);


  void printAttributes(std::string & name);


  void dump_params(std::string  name);


  //################# member variables########################
  double r_;                       
  double h_min_;                   
  double h_max_;                   
  Eigen::Vector3f sym_axis;        
  Eigen::Vector3f origin_;         
  int merged_limit;                
protected:
  //################ private methods for merging to avoid confusion by user################
  void getArc(const Eigen::Vector3f& goal,const Eigen::Vector3f& start, float& Tx,bool first);


  void compensate_offset(Cylinder::Ptr& c_ref);

};
}

#endif

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cob_3d_mapping_common
Author(s): Georg Arbeiter
autogenerated on Fri Mar 1 15:17:29 2013