sampling.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2014, Andreas ten Pas
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *
00018  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00019  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00020  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00024  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00028  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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00030  */
00031 
00032 #ifndef SAMPLING_H_
00033 #define SAMPLING_H_
00034 
00035 #include "handle_detector/affordances.h"
00036 #include "handle_detector/cylindrical_shell.h"
00037 #include "handle_detector/sampling_visualizer.h"
00038 #include <pcl/point_cloud.h>
00039 #include <pcl/point_types.h>
00040 #include <pcl/visualization/pcl_visualizer.h>
00041 
00042 typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloud;
00043 
00047 class Sampling
00048 {
00049 public:
00050   void setAffordances(Affordances &affordances)
00051   {
00052     this->affordances = affordances;
00053   }
00054   ;
00055 
00061   void
00062   initParams(const ros::NodeHandle& node);
00063 
00070   void
00071   illustrate(const PointCloud::Ptr &cloud, double target_radius);
00072 
00079   std::vector<CylindricalShell>
00080   searchAffordances(const PointCloud::Ptr &cloud, double target_radius);
00081 
00082 private:
00083   Affordances affordances;
00084   int num_iterations;
00085   int num_samples;
00086   int num_init_samples;
00087   double prob_rand_samples;
00088   bool is_visualized;
00089   int method;
00090 
00091   // standard parameters
00092   static const int NUM_ITERATIONS;
00093   static const int NUM_SAMPLES;
00094   static const int NUM_INIT_SAMPLES;
00095   static const double PROB_RAND_SAMPLES;
00096   static const bool VISUALIZE_STEPS;
00097   static const int METHOD;
00098 };
00099 
00100 #endif /* SAMPLING_H_ */


handle_detector
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autogenerated on Thu Jun 6 2019 17:36:23