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