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_GRID_PLANE_H_ 00037 #define JSK_RECOGNITION_UTILS_GEO_GRID_PLANE_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 <boost/tuple/tuple.hpp> 00044 #include <vector> 00045 #include <set> 00046 00047 #include "jsk_recognition_utils/geo/convex_polygon.h" 00048 #include "jsk_recognition_utils/geo/cube.h" 00049 00050 #include <jsk_recognition_msgs/SimpleOccupancyGrid.h> 00051 00052 namespace jsk_recognition_utils 00053 { 00073 class GridPlane 00074 { 00075 public: 00076 typedef boost::shared_ptr<GridPlane> Ptr; 00077 typedef boost::tuple<int, int> IndexPair; 00078 typedef std::set<IndexPair> IndexPairSet; 00079 GridPlane(ConvexPolygon::Ptr plane, const double resolution); 00080 virtual ~GridPlane(); 00081 virtual GridPlane::Ptr clone(); // shallow copy 00082 virtual size_t fillCellsFromPointCloud( 00083 pcl::PointCloud<pcl::PointNormal>::Ptr& cloud, 00084 double distance_threshold); 00085 virtual size_t fillCellsFromPointCloud( 00086 pcl::PointCloud<pcl::PointNormal>::Ptr& cloud, 00087 double distance_threshold, 00088 std::set<int>& non_plane_indices); 00089 virtual size_t fillCellsFromPointCloud( 00090 pcl::PointCloud<pcl::PointNormal>::Ptr& cloud, 00091 double distance_threshold, 00092 double normal_threshold, 00093 std::set<int>& non_plane_indices); 00094 virtual void fillCellsFromCube(Cube& cube); 00095 virtual double getResolution() { return resolution_; } 00096 virtual jsk_recognition_msgs::SimpleOccupancyGrid toROSMsg(); 00102 static GridPlane fromROSMsg( 00103 const jsk_recognition_msgs::SimpleOccupancyGrid& rosmsg, 00104 const Eigen::Affine3f& offset); 00105 virtual bool isOccupied(const IndexPair& pair); 00106 00111 virtual bool isOccupied(const Eigen::Vector3f& p); 00112 00117 virtual bool isOccupiedGlobal(const Eigen::Vector3f& p); 00118 00124 virtual IndexPair projectLocalPointAsIndexPair(const Eigen::Vector3f& p); 00125 00130 virtual Eigen::Vector3f unprojectIndexPairAsLocalPoint(const IndexPair& pair); 00131 00136 virtual Eigen::Vector3f unprojectIndexPairAsGlobalPoint(const IndexPair& pair); 00137 00142 virtual void addIndexPair(IndexPair pair); 00143 00148 virtual GridPlane::Ptr erode(int num); 00149 00154 virtual ConvexPolygon::Ptr getPolygon() { return convex_; } 00155 00160 virtual GridPlane::Ptr dilate(int num); 00161 protected: 00162 ConvexPolygon::Ptr convex_; 00163 IndexPairSet cells_; 00164 double resolution_; 00165 private: 00166 00167 }; 00168 00169 } 00170 00171 #endif