cylinder.h
Go to the documentation of this file.
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 #ifndef JSK_RECOGNITION_UTILS_GEO_CYLINDER_H_
00037 #define JSK_RECOGNITION_UTILS_GEO_CYLINDER_H_
00038 
00039 #include <Eigen/Geometry>
00040 #include <pcl/point_cloud.h>
00041 #include <pcl/PointIndices.h>
00042 #include <pcl/point_types.h>
00043 #include <visualization_msgs/Marker.h>
00044 
00045 namespace jsk_recognition_utils
00046 {
00047   class Cylinder                // infinite
00048   {
00049   public:
00050     typedef boost::shared_ptr<Cylinder> Ptr;
00051     Cylinder(Eigen::Vector3f point, Eigen::Vector3f direction, double radius);
00052 
00053     virtual void filterPointCloud(const pcl::PointCloud<pcl::PointXYZ>& cloud,
00054                                   const double threshold,
00055                                   pcl::PointIndices& output);
00056     virtual void estimateCenterAndHeight(const pcl::PointCloud<pcl::PointXYZ>& cloud,
00057                                          const pcl::PointIndices& indices,
00058                                          Eigen::Vector3f& center,
00059                                          double& height);
00060     virtual void toMarker(visualization_msgs::Marker& marker,
00061                           const Eigen::Vector3f& center,
00062                           const Eigen::Vector3f& uz,
00063                           const double height);
00064     virtual Eigen::Vector3f getDirection();
00065     virtual double getRadius() { return radius_; }
00066   protected:
00067     Eigen::Vector3f point_;
00068     Eigen::Vector3f direction_;
00069     double radius_;
00070   private:
00071     
00072   };
00073 }
00074 
00075 #endif


jsk_recognition_utils
Author(s):
autogenerated on Tue Jul 2 2019 19:40:37