grid_plane.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2014, JSK Lab
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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


jsk_recognition_utils
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autogenerated on Sun Oct 8 2017 02:42:48