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polygon.h

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#ifndef POLYGON_H_
#define POLYGON_H_

#include "cob_3d_mapping_common/shape.h"
#include <boost/shared_ptr.hpp>
#include <boost/enable_shared_from_this.hpp>
extern "C" {
#include "cob_3d_mapping_common/gpc.h"
}
#include <fstream>

//#include "cob_3d_mapping_common/stop_watch.h"

namespace cob_3d_mapping
{
  struct merge_config
  {
    double angle_thresh;
    float  d_thresh;
    std::string weighting_method;
  };


  class Polygon : public Shape
  {
  public:
    typedef boost::shared_ptr<Polygon> Ptr;
    typedef boost::shared_ptr<const Polygon> ConstPtr;
  public:

    Polygon()
      : normal(Eigen::Vector3f::Zero())
      , d(0.0)
      , transform_from_world_to_plane(Eigen::Affine3f::Identity())
      , merge_weight_(1.0)
    { }


    inline size_t outerContourIndex() const
    {
      for(size_t i=0;i<contours.size();++i) { if(!holes[i]) { return i; } };
      return 0;
    }

    //##########methods for instantiation##############

    virtual void computeAttributes(const Eigen::Vector3f &new_normal, const Eigen::Vector4f & new_centroid);


    virtual void transform2tf(const Eigen::Affine3f& trafo);


    void smoothPolygon();


    //###########methods for merging##################
    virtual void getMergeCandidates(const std::vector<Polygon::Ptr>& poly_vec, std::vector<int>& intersections) const;


    virtual bool isIntersectedWith(const Polygon::Ptr& poly) const;


    void getIntersection(const Polygon::Ptr& poly, gpc_polygon* gpc_intersection) const;


    bool getContourOverlap(const Polygon::Ptr& poly, float& rel_overlap, int& abs_overlap) const;


    float computeSimilarity(const Polygon::Ptr& poly) const;


    virtual void merge(std::vector<Polygon::Ptr>& poly_vec);


    void merge_union(std::vector<Polygon::Ptr>& poly_vec, Polygon::Ptr&  p_average);


    void assignWeight();


    void assignID(const std::vector<Polygon::Ptr>& poly_vec);


    virtual void applyWeighting(const std::vector<Polygon::Ptr>& poly_vec, Polygon::Ptr& p_average);


    void getGpcStructure(const Eigen::Affine3f& external_trafo, gpc_polygon* gpc_p) const;


    void applyGpcStructure(const Eigen::Affine3f& external_trafo, const gpc_polygon* gpc_p);


    inline bool hasSimilarParametersWith(const Polygon::Ptr& poly) const
    {
      Eigen::Vector3f d = (this->centroid - poly->centroid).head(3);
      return ( fabs(poly->normal.dot(this->normal)) > this->merge_settings_.angle_thresh &&
               fabs( d.dot(this->normal) ) < this->merge_settings_.d_thresh &&
               fabs( d.dot(poly->normal) ) < this->merge_settings_.d_thresh );
    }

    //#######methods for calculation#####################

    void computeCentroid();


    double computeArea() const;  // http://paulbourke.net/geometry/polyarea/


    double computeArea3d() const;


    void getTransformationFromPlaneToWorld(const Eigen::Vector3f &normal,const Eigen::Vector3f &origin,
                                           Eigen::Affine3f &transformation) const;


    void getTransformationFromPlaneToWorld(const Eigen::Vector3f z_axis,const Eigen::Vector3f &normal,
                                           const Eigen::Vector3f &origin, Eigen::Affine3f &transformation);


    void getTransformedContours(const Eigen::Affine3f& trafo, std::vector<std::vector<Eigen::Vector3f> >& new_contours ) const;


    void TransformContours(const Eigen::Affine3f& trafo);


    void computePoseAndBoundingBox(Eigen::Affine3f& pose, Eigen::Vector4f& min_pt, Eigen::Vector4f& max_pt);



    //#############debugging methods#######################


    void debug_output(std::string name);


    //########## member variables#################
    //needed for 32-bit systems: see http://eigen.tuxfamily.org/dox/TopicStructHavingEigenMembers.html
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    std::vector<std::vector<Eigen::Vector3f> > contours;
    Eigen::Vector3f normal;
    double d;
    Eigen::Affine3f transform_from_world_to_plane;
    std::vector<bool> holes;
    double merge_weight_;
    merge_config merge_settings_;
  };
}
#endif /* POLYGON_H_ */

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