00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_APPS_IN_HAND_SCANNER_VISIBILITY_CONFIDENCE_H 00042 #define PCL_APPS_IN_HAND_SCANNER_VISIBILITY_CONFIDENCE_H 00043 00044 #include <stdint.h> 00045 00046 #include <pcl/pcl_exports.h> 00047 #include <pcl/apps/in_hand_scanner/eigen.h> 00048 00049 namespace pcl 00050 { 00051 namespace ihs 00052 { 00053 // - Frequency 3 Icosahedron where each vertex corresponds to a viewing direction 00054 // - First vertex aligned to z-axis 00055 // - Removed vertices with z < 0.3 00056 // -> 31 directions, fitting nicely into a 32 bit integer 00057 // -> Very oblique angles are not considered 00058 class PCL_EXPORTS Dome 00059 { 00060 public: 00061 00062 static const int num_directions = 31; 00063 typedef Eigen::Matrix <float, 4, num_directions> Vertices; 00064 00065 Dome (); 00066 00067 Vertices 00068 getVertices () const; 00069 00070 private: 00071 00072 Vertices vertices_; 00073 00074 public: 00075 00076 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00077 }; 00078 00079 PCL_EXPORTS void 00080 addDirection (const Eigen::Vector4f& normal, 00081 const Eigen::Vector4f& direction, 00082 uint32_t& directions); 00083 00084 PCL_EXPORTS unsigned int 00085 countDirections (const uint32_t directions); 00086 00087 } // End namespace ihs 00088 } // End namespace pcl 00089 00090 #endif // PCL_APPS_IN_HAND_SCANNER_VISIBILITY_CONFIDENCE_H