parameter_space.h

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/******************************************************************************
 * \file
 *
 * $Id: parameterSpace.h 693 2012-04-20 09:22:39Z ihulik $
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Rostislav Hulik (ihulik@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: 11.01.2012 (version 1.0)
 * 
 * This file is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This file is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this file.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once
#ifndef BUT_PLANE_DET_PARAMSPACE_H
#define BUT_PLANE_DET_PARAMSPACE_H

// Opencv 2
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc_c.h>

// ROS
#include <sensor_msgs/CameraInfo.h>

#include <srs_env_model_percp/but_segmentation/normals.h>


namespace srs_env_model_percp
{

        #define DEFAULT_ANGLE_STEP 5
        #define DEFAULT_SHIFT_STEP 5

        class ParameterSpace
        {
        public:
                typedef but_plane_detector::Plane<float> tPlane;
                typedef std::vector<tPlane, Eigen::aligned_allocator<tPlane> > tPlanes;

                        public:
                        ParameterSpace(double anglemin, double anglemax, double zmin, double zmax, double angleRes = DEFAULT_ANGLE_STEP, double shiftRes = DEFAULT_SHIFT_STEP);

                        ~ParameterSpace();

                        int findMaxima(tPlanes &indices);

                        void generateGaussIn(double angleSigma, double shiftSigma);

                        void addVolume(ParameterSpace &second, int angle1, int angle2, int shift);

                        double getAngle(int index);

                        double getShift(int irndex);

                        double &operator() (int angle1, int angle2, int z);

                        double &operator[] (int index);

                        double &operator() (double angle1, double angle2, double z);

                        int getSize();

                        int getIndex(double angle1, double angle2, double z);

                        void getIndex(double angle1, double angle2, double z, int &angle1Index, int &angle2Index, int &shiftIndex);

                        static void toAngles(float x, float y, float z, float &a1, float &a2);

                        static void toEuklid(float a1, float a2, float &x, float &y, float &z);

                        bool m_init;
                        
                        double m_angleStep;
                        
                        double m_shiftStep;
                        
                        double m_shiftmin;
                        
                        double m_shiftmax;
                        
                        double m_anglemin;
                        
                        double m_anglemax;
                        
                        int m_size;
                        
                        int m_angleSize;
                        
                        int m_angleSize2;
                        
                        int m_shiftSize;
                        
                        cv::Mat m_paramSpace;
                        
                        double *m_data;
        };
} // but_plane_detector

#endif