grid_line.h
Go to the documentation of this file.
1 // -*- mode: C++ -*-
2 /*********************************************************************
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2014, JSK Lab
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/o2r other materials provided
17  * with the distribution.
18  * * Neither the name of the JSK Lab nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *********************************************************************/
35 #ifndef JSK_RECOGNITION_UTILS_GRID_LINE_H_
36 #define JSK_RECOGNITION_UTILS_GRID_LINE_H_
37 #include <pcl/point_types.h>
38 #include <boost/shared_ptr.hpp>
40 
41 #include <Eigen/Core>
42 #include <Eigen/Geometry>
43 
44 namespace jsk_recognition_utils
45 {
46  class GridLine
47  {
48  public:
50  GridLine(const pcl::PointXYZRGB a, const pcl::PointXYZRGB b);
51  virtual ~GridLine();
52  virtual bool penetrateGrid(const pcl::PointXYZRGB& A,
53  const pcl::PointXYZRGB& B,
54  const pcl::PointXYZRGB& C,
55  const pcl::PointXYZRGB& D);
56  virtual bool penetrateGrid(const Eigen::Vector3f A,
57  const Eigen::Vector3f B,
58  const Eigen::Vector3f C,
59  const Eigen::Vector3f D)
60  {
61  // std::cout << "checking "
62  // << "[" << from[0] << ", " << from[1] << ", " << from[2] << "]"
63  // << "--"
64  // << "[" << to[0] << ", " << to[1] << ", " << to[2] << "]"
65  // << std::endl;
66  // std::cout << " penetrates "
67  // << "[" << A[0] << ", " << A[1] << ", " << A[2] << "], "
68  // << "[" << B[0] << ", " << B[1] << ", " << B[2] << "], "
69  // << "[" << C[0] << ", " << C[1] << ", " << C[2] << "], "
70  // << "[" << D[0] << ", " << D[1] << ", " << D[2] << "]" << std::endl;
71  Eigen::Vector3f Across = (A - from).cross(d_);
72  Eigen::Vector3f Bcross = (B - from).cross(d_);
73  Eigen::Vector3f Ccross = (C - from).cross(d_);
74  Eigen::Vector3f Dcross = (D - from).cross(d_);
75  bool ab_direction = Across.dot(Bcross) < 0;
76  bool ac_direction = Across.dot(Ccross) < 0;
77  bool ad_direction = Across.dot(Dcross) < 0;
78  bool bc_direction = Bcross.dot(Ccross) < 0;
79  if (Across.norm() == 0 ||
80  Bcross.norm() == 0 ||
81  Ccross.norm() == 0 ||
82  Dcross.norm() == 0) {
83  return true;
84  }
85  else if ((ab_direction == ac_direction) &&
86  (ab_direction == ad_direction)
87  && (ab_direction == bc_direction)) {
88  return false;
89  }
90  else {
91  return true;
92  }
93  }
94 
95  const Eigen::Vector3f from;
96  const Eigen::Vector3f to;
97  protected:
98  const Eigen::Vector3f d_;
99  };
100 }
101 
102 #endif
const Eigen::Vector3f to
Definition: grid_line.h:96
const Eigen::Vector3f from
Definition: grid_line.h:95
TFSIMD_FORCE_INLINE Vector3 cross(const Vector3 &v) const
const Eigen::Vector3f d_
Definition: grid_line.h:98
boost::shared_ptr< GridLine > Ptr
Definition: grid_line.h:49
GridLine(const pcl::PointXYZRGB a, const pcl::PointXYZRGB b)
Definition: grid_line.cpp:40
virtual bool penetrateGrid(const Eigen::Vector3f A, const Eigen::Vector3f B, const Eigen::Vector3f C, const Eigen::Vector3f D)
Definition: grid_line.h:56
virtual bool penetrateGrid(const pcl::PointXYZRGB &A, const pcl::PointXYZRGB &B, const pcl::PointXYZRGB &C, const pcl::PointXYZRGB &D)
Definition: grid_line.cpp:71


jsk_recognition_utils
Author(s):
autogenerated on Fri Dec 6 2019 04:02:51