rating.h

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#ifndef RATING_H
#define RATING_H

#include <geometry_msgs/Pose.h>
#include <geometry_msgs/Point.h>
#include <Eigen/Dense>

namespace fake_object_recognition {

class Rating {

    double fovx_;

    double fovy_;

    double ncp_;

    double fcp_;

    const Eigen::Vector3d camera_orientation_;

    double getDistanceRating(const geometry_msgs::Pose &object_pose);

    double getAngleRating(const geometry_msgs::Pose &object_pose, bool direction);
    
    bool getBBRating(const std::array<geometry_msgs::Point, 8> &bounding_box);
    
    double getNormalRating(const geometry_msgs::Pose &object_pose, const std::vector<geometry_msgs::Point> &normals);

public:
    Rating(double fovx, double fovy, double ncp, double fcp);

    bool ratePose(const geometry_msgs::Pose &pose, double threshold_d, double threshold_x, double threshold_y);
    
    bool rateBBandNormal(const geometry_msgs::Pose &object_pose, const std::array<geometry_msgs::Point, 8> &bounding_box, const std::vector<geometry_msgs::Point> &normals, double threshold);
};

}

#endif /* RATING_H */