00001 // -*- mode: C++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include "jsk_recognition_utils/grid_line.h" 00037 00038 namespace jsk_recognition_utils 00039 { 00040 GridLine::GridLine(const pcl::PointXYZRGB a, const pcl::PointXYZRGB b) 00041 : from(a.getVector3fMap()), to(b.getVector3fMap()), d_(from - to) 00042 { 00043 d_.normalized(); 00044 } 00045 00046 GridLine::~GridLine() 00047 { 00048 00049 } 00050 00051 // bool GridLine::penetrateGrid(const Eigen::Vector3f A, 00052 // const Eigen::Vector3f B, 00053 // const Eigen::Vector3f C, 00054 // const Eigen::Vector3f D) 00055 // { 00056 // Eigen::Vector3f Across = (A - from).cross(d_); 00057 // Eigen::Vector3f Bcross = (B - from).cross(d_); 00058 // Eigen::Vector3f Ccross = (C - from).cross(d_); 00059 // Eigen::Vector3f Dcross = (D - from).cross(d_); 00060 // bool ab_direction = Across.dot(Bcross) < 0; 00061 // bool ac_direction = Across.dot(Ccross) < 0; 00062 // bool ad_direction = Across.dot(Dcross) < 0; 00063 // if ((ab_direction == ac_direction) && (ab_direction == ad_direction)) { 00064 // return false; 00065 // } 00066 // else { 00067 // return true; 00068 // } 00069 // } 00070 00071 bool GridLine::penetrateGrid(const pcl::PointXYZRGB& A, 00072 const pcl::PointXYZRGB& B, 00073 const pcl::PointXYZRGB& C, 00074 const pcl::PointXYZRGB& D) 00075 { 00076 return penetrateGrid(A.getVector3fMap(), 00077 B.getVector3fMap(), 00078 C.getVector3fMap(), 00079 D.getVector3fMap()); 00080 } 00081 }