plane_detection.h
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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                     bool search_y = true);
00046     ~PlaneDetection();
00047     
00048     void Update(const stereo_msgs::DisparityImage::ConstPtr&
00049                 disparity_image);
00050     
00051     void GetPlaneParameters( float &alpha, float &beta, float &d,
00052                              int &min_x, int &max_x, 
00053                              int &min_y, int &max_y);
00054     float GetSpreadX();
00055     float GetSpreadY();
00056     void GetLabels(sensor_msgs::Image &image);
00057     void GetHistY(sensor_msgs::Image &image,
00058                   float &beta, float &disp);
00059     void GetHistX(sensor_msgs::Image &image,
00060                   float &beta, float &disp);
00061     void GetSumOfSquaredError(float &error);
00062     void GetNInliers(int &n_inliers);
00063     void GetNDisp(int &n_disp);
00064     void GetMeanSquaredError(float &mean_error);
00065 
00066   private:
00067 
00068     void Update_Y( const stereo_msgs::DisparityImage::ConstPtr&
00069                    disparity_image );
00070     void Update_X( const stereo_msgs::DisparityImage::ConstPtr&
00071                    disparity_image );
00072     
00074     sensor_msgs::Image labels_;
00075 
00077     sensor_msgs::Image hist_y_;
00078     float tmp_beta_;
00079     float tmp_disp_;
00080 
00082     sensor_msgs::Image hist_x_;
00083     float tmp_beta_x_;
00084     float tmp_disp_x_;
00085 
00087     int drange_;
00088 
00090     int width_, height_;
00091 
00093     int min_x_; int max_x_;
00094     int min_y_; int max_y_;
00095 
00098     bool find_table_;
00099     float min_beta_;
00100 
00102     bool search_y_;
00103 
00105     float alpha_;
00106     float beta_;
00107     float disp_;
00108  
00110     float spread_d_y_;
00111     float spread_d_x_;
00112 
00114     float err_;
00115     
00117     int n_inliers_;
00118 
00120     int n_disps_;
00121 
00122   };
00123   
00124 } // fast_plane_detection
00125 
00126 #endif //PLANE_DETECTION
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fast_plane_detection
Author(s): Jeannette Bohg
autogenerated on Wed Jan 23 2013 16:52:54