object_model.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */

/* \author Bastian Steder */


#ifndef PCL_OBJECT_MODEL_H
#define PCL_OBJECT_MODEL_H

#include <vector>

#include <Eigen/Geometry>

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/range_image/range_image.h>
#include <pcl/pcl_macros.h>
#include <pcl/features/narf.h>


namespace pcl {

// Forward declarations
class Narf;
class NarfKeypoint;

class ObjectModel
{
  public:
    //-----TYPEDEFS-----
    typedef PointXYZ     PointType;
    typedef PointCloud<PointType>  PointCloudType;
    
    //-----STRUCTS-----
    struct ValidationPoints
    {
      std::vector<Eigen::Vector3f> surface;
      std::vector<Eigen::Vector3f> border;
    };
    
    //-----CONSTRUCTOR&DESTRUCTOR-----
    ObjectModel();
    virtual ~ObjectModel();
    
    //-----STATIC METHODS-----
    template <typename FeatureType>
    inline static void freeFeatureListMemory(std::vector<std::vector<FeatureType*>*>& feature_list);

    //-----METHODS-----
    void clear(bool keep_point_cloud=false);
    
    void clearViews();
    
    void updateCenterAndRadius();
    
    float getMaxAngleSize(const Eigen::Affine3f& viewer_pose) const;
    
    void createView(const Eigen::Affine3f& viewer_pose, float angular_resolution, RangeImage& view) const;
    
    void addView(const Eigen::Affine3f& viewer_pose, float angular_resolution);
    
    void sampleViews2D(int no_of_views=10, int first_layer=0, int last_layer=0,
                       float angular_resolution=deg2rad(0.5f), float distance=-1.0f,
                       std::vector<RangeImage, Eigen::aligned_allocator<RangeImage> >* views=NULL);
    
    void sampleViews3D(float sample_angular_resolution=deg2rad(40.0f), float angular_resolution=deg2rad(0.4f),
                       float distance=-1.0f, std::vector<RangeImage, Eigen::aligned_allocator<RangeImage> >* views=NULL);

    void addNoise(float max_noise);
    
    void addSimulatedView(const Eigen::Vector3f& direction, float angular_resolution=deg2rad(0.5f), float distance=-1.0,
                          std::vector<RangeImage, Eigen::aligned_allocator<RangeImage> >* views=NULL);
    
    void extractNARFsForCompleteSurface(unsigned int descriptor_size, float size_in_world, bool rotation_invariant, std::vector<std::vector<Narf*>*>& features) const;
    
    void extractNARFsForInterestPoints(unsigned int descriptor_size, float size_in_world, bool rotation_invariant,
                                      NarfKeypoint& interest_point_detector, std::vector<std::vector<Narf*>*>& features) const;
    
    void getTransformedPointCloud(const Eigen::Affine3f& transformation, PointCloudType& output) const;
    
    void
    updateValidationPoints(unsigned int no_of_surface_points=50, unsigned int no_of_border_points=25,
                           float sample_resolution=deg2rad(20.0f), NarfKeypoint* interest_point_detector=NULL, 
                           float support_size=-1.0f);
    
    inline int getClosestValidationPointViewIdx(const Eigen::Affine3f& pose) const;

    Eigen::Affine3f doFastICP(const Eigen::Affine3f& initial_guess, const RangeImage& range_image,
                               int search_radius=3, int no_of_surface_points_to_use = 25,
                               int no_of_border_points_to_use = 10, int num_iterations = 10,
                               float max_distance_start=-1.0f, float max_distance_end=-1.0f) const;
    
    Eigen::Affine3f
    doSlowICP(const Eigen::Affine3f& initial_guess, const RangeImage& range_image, int search_radius,
              int num_iterations, float max_distance_start, float max_distance_end) const;
    
    void extractInterestPoints(int view_ix, float support_size, NarfKeypoint& interest_point_detector, 
                               PointCloud<InterestPoint>& interest_points) const;

    Eigen::Affine3f getViewerPose(const Eigen::Vector3f& viewpoint) const;
    
    float getMaximumPlaneSize (float initial_max_plane_error) const;
    
    //-----GETTER-----
    inline int getId() const { return id_; }
    inline const std::string& getName() const { return name_; }
    inline const PointCloudType& getPointCloud() const { return point_cloud_; }
    inline PointCloudType& getPointCloud() { return point_cloud_; }
    inline const std::vector<RangeImage, Eigen::aligned_allocator<RangeImage> >& getViews() const { return views_; }
    inline const RangeImage& getView(int index) const { return views_[index]; }
    inline float getRadius() const { return radius_; }
    inline const Eigen::Vector3f& getCenter() const { return center_; }
    inline const std::vector<ValidationPoints>& getValidationPoints() const { return validation_points_;}
    bool isSingleViewModel() const { return is_single_view_model_;}

    
   
    //-----SETTER-----
    void setId(int id) { id_=id; }
    void setName(const std::string name) { name_=name; }
    void setIsSingleViewModel(bool is_single_view_model) { is_single_view_model_=is_single_view_model;}
    
  protected:
    //-----PROTECTED METHODS-----
    static void getUniformlyDistributedPoints(const std::vector<Eigen::Vector3f>& points, int no_of_points, std::vector<Eigen::Vector3f>& result);
    
    //-----PROTECTED VARIABLES-----
    int id_;
    std::string name_;
    PointCloudType point_cloud_;
    std::vector<RangeImage, Eigen::aligned_allocator<RangeImage> > views_;
    std::vector<RangeImage, Eigen::aligned_allocator<RangeImage> > views_for_validation_points_;
    std::vector<ValidationPoints> validation_points_;
    Eigen::Vector3f center_;
    float radius_;
    bool is_single_view_model_;
  
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace end

#include "object_model.hpp"

#endif