model_fitter.h

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// Author(s): Marius Muja and Matei Ciocarlie

#ifndef _MODEL_FITTER_H_
#define _MODEL_FITTER_H_

#include <string>
#include <vector>
#include <algorithm>

#include "tf/transform_datatypes.h"

#include "geometry_msgs/Point32.h"
#include "sensor_msgs/PointCloud.h"
#include "arm_navigation_msgs/Shape.h"

namespace distance_field {
  class PropagationDistanceField;
}

namespace tabletop_object_detector {


class ModelFitInfo {
 private:
  int model_id_;
  geometry_msgs::Pose fit_pose_;
  float score_;

 public:
  ModelFitInfo(int model_id, const geometry_msgs::Pose &pose, float score) : model_id_(model_id), 
    fit_pose_(pose), score_(score) {}

  int getModelId() const {return model_id_;}
  float getScore() const {return score_;} 
  geometry_msgs::Pose getPose() const {return fit_pose_;}

  static bool compareScores(const ModelFitInfo &mf1, const ModelFitInfo &mf2)
  {
    return mf1.score_ < mf2.score_;
  }  
};


class ModelToCloudFitter
{
 protected:
  int model_id_;

  void sampleMesh(const arm_navigation_msgs::Shape &mesh, std::vector<tf::Vector3> &btVectors, double resolution);

 public:

  ModelToCloudFitter() : model_id_(-1) {}
  virtual ~ModelToCloudFitter(){}

  void setModelId(int id){model_id_=id;}
  int getModelId() const {return model_id_;}

  //----------------------------------------------------------------
  // Be sure to define these functions if you define your new awesome fitter:
  //----------------------------------------------------------------

  // void initializeFromMesh(const arm_navigation_msgs::Shape &mesh) {}

  // template <class PointCloudType>
  //  ModelFitInfo fitPointCloud(const PointCloudType &cloud);
};


class DistanceFieldFitter : public ModelToCloudFitter
{
 protected:
  distance_field::PropagationDistanceField* distance_voxel_grid_;
  double distance_field_resolution_;

  float truncate_value_;

  void initializeFromBtVectors(const std::vector<tf::Vector3> &points);

 public:
  DistanceFieldFitter();
  ~DistanceFieldFitter();
  
  void initializeFromMesh(const arm_navigation_msgs::Shape &mesh);
};

} //namespace tabletop_object_detector

#endif