door_handle_detector: areas.h Source File

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00001 /*
00002  * Copyright (c) 2008 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
00003  *
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  *
00027  * $Id$
00028  *
00029  */
00030 
00033 #ifndef _CLOUD_GEOMETRY_AREAS_H_
00034 #define _CLOUD_GEOMETRY_AREAS_H_
00035 
00036 // ROS includes
00037 #include <geometry_msgs/Point32.h>
00038 #include <sensor_msgs/PointCloud.h>
00039 #include <geometry_msgs/Polygon.h>
00040 
00041 #include <door_handle_detector/geometry/nearest.h>
00042 
00043 namespace cloud_geometry
00044 {
00045 
00046   namespace areas
00047   {
00048 
00050 
00054     inline bool
00055       comparePoint2D (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
00056     {
00057       if (p1.x < p2.x)      return (true);
00058       else if (p1.x > p2.x) return (false);
00059       else if (p1.y < p2.y) return (true);
00060       else                  return (false);
00061     }
00062 
00064 
00068     inline bool
00069       comparePoint3D (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
00070     {
00071       if (p1.x < p2.x)      return (true);
00072       else if (p1.x > p2.x) return (false);
00073       else if (p1.y < p2.y) return (true);
00074       else if (p1.y > p2.y) return (false);
00075       else if (p1.z < p2.z) return (true);
00076       else                  return (false);
00077     }
00078 
00079     bool compute2DPolygonNormal(const geometry_msgs::Polygon &poly, std::vector<double> &normal);
00080     double compute2DPolygonalArea (const sensor_msgs::PointCloud &points, const std::vector<double> &normal);
00081     double compute2DPolygonalArea (const geometry_msgs::Polygon &polygon, const std::vector<double> &normal);
00082     double compute2DPolygonalArea (const geometry_msgs::Polygon &polygon);
00083     void convexHull2D (const sensor_msgs::PointCloud &points, const std::vector<int> &indices, const std::vector<double> &coeff, geometry_msgs::Polygon &hull);
00084     void convexHull2D (const std::vector<geometry_msgs::Point32> &points, geometry_msgs::Polygon &hull);
00085 
00086     bool isPointIn2DPolygon (const geometry_msgs::Point32 &point, const geometry_msgs::Polygon &polygon);
00087   }
00088 }
00089 
00090 #endif