box_fit2_algo.h

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/*
 * Copyright (c) 2010, Zoltan-Csaba Marton <marton@cs.tum.edu>
 * All rights reserved.
 *
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#ifndef PCL_CLOUD_ALGOS_ROBUST_BOX_ESTIMATION_H
#define PCL_CLOUD_ALGOS_ROBUST_BOX_ESTIMATION_H

//cloud_algos
#include <pcl_cloud_algos/box_fit_algo.h>

#include <pcl_ias_sample_consensus/pcl_sac_model_orientation.h>
namespace pcl_cloud_algos
{

class RobustBoxEstimation : public BoxEstimation
{
 public:


  double eps_angle_;


  double success_probability_;


  RobustBoxEstimation ()
  {
    eps_angle_ = 0.1; // approximately 6 degrees
    success_probability_ = 0.99; // use 1 for exhaustive search
  };

  void getMinAndMax(Eigen::VectorXf model_coefficients, boost::shared_ptr<pcl::SACModelOrientation<pcl::PointXYZINormal> > model, std::vector<int> &min_max_indices, std::vector<float> &min_max_distances);

  // Overwritten Cloud Algo stuff
  void pre  ();
  std::vector<std::string> requires ();


  virtual bool find_model (boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZINormal> > cloud, std::vector<double> &coeff);

  ros::Publisher createPublisher (ros::NodeHandle& nh)
  {
    ros::Publisher p = nh.advertise<OutputType> (default_output_topic (), 5);
    return p;
  }
};

}
#endif