box_fit2_algo.h
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00001 /*
00002  * Copyright (c) 2010, Zoltan-Csaba Marton <marton@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef PCL_CLOUD_ALGOS_ROBUST_BOX_ESTIMATION_H
00031 #define PCL_CLOUD_ALGOS_ROBUST_BOX_ESTIMATION_H
00032 
00033 //cloud_algos
00034 #include <pcl_cloud_algos/box_fit_algo.h>
00035 
00036 #include <pcl_ias_sample_consensus/pcl_sac_model_orientation.h>
00037 namespace pcl_cloud_algos
00038 {
00039 
00040 class RobustBoxEstimation : public BoxEstimation
00041 {
00042  public:
00043 
00045 
00048   double eps_angle_;
00049 
00051 
00055   double success_probability_;
00056 
00058 
00061   RobustBoxEstimation ()
00062   {
00063     eps_angle_ = 0.1; // approximately 6 degrees
00064     success_probability_ = 0.99; // use 1 for exhaustive search
00065   };
00066 
00067   void getMinAndMax(Eigen::VectorXf model_coefficients, boost::shared_ptr<pcl::SACModelOrientation<pcl::PointXYZINormal> > model, std::vector<int> &min_max_indices, std::vector<float> &min_max_distances);
00068 
00069   // Overwritten Cloud Algo stuff
00070   void pre  ();
00071   std::vector<std::string> requires ();
00072 
00074 
00082   virtual bool find_model (boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZINormal> > cloud, std::vector<double> &coeff);
00083 
00084   ros::Publisher createPublisher (ros::NodeHandle& nh)
00085   {
00086     ros::Publisher p = nh.advertise<OutputType> (default_output_topic (), 5);
00087     return p;
00088   }
00089 };
00090 
00091 }
00092 #endif
00093 
00094 
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pcl_cloud_algos
Author(s): Nico Blodow, Dejan Pangercic, Zoltan-Csaba Marton
autogenerated on Sun Oct 6 2013 12:05:19