00001 /* 00002 * Copyright (C) 2008 00003 * Robert Bosch LLC 00004 * Research and Technology Center North America 00005 * Palo Alto, California 00006 * 00007 * All rights reserved. 00008 * 00009 *------------------------------------------------------------------------------ 00010 * project ....: PUMA: Probablistic Unsupervised Model Acquisition 00011 * file .......: MeshSet3DHelper.h 00012 * authors ....: Benjamin Pitzer 00013 * organization: Robert Bosch LLC 00014 * creation ...: 04/20/2008 00015 * modified ...: $Date:2008-03-03 10:26:02 -0800 (Mon, 03 Mar 2008) $ 00016 * changed by .: $Author:benjaminpitzer $ 00017 * revision ...: $Revision:141 $ 00018 */ 00019 #ifndef MESHSET3DHELPER_H_ 00020 #define MESHSET3DHELPER_H_ 00021 00022 //== INCLUDES ================================================================== 00023 #include <rtc/rtcVec2.h> 00024 #include <rtc/rtcVec4.h> 00025 #include "rtc/rtcMeshSet3D.h" 00026 00027 //== NAMESPACES ================================================================ 00028 namespace rtc { 00029 00030 //== CLASS DEFINITION ========================================================== 00031 class MeshSet3DHelper 00032 { 00033 public: 00034 // standard c'tor and d'tor 00035 MeshSet3DHelper(); 00036 virtual ~MeshSet3DHelper(); 00037 00038 // add noise 00039 static void addMotionNoise(MeshSet3D& meshset, Vec4f& alpha); 00040 static void addMeasurementNoise(MeshSet3D& meshset, Vec3f& alpha_measurement); 00041 // mean distance of vertices 00042 static float meanDistance(const MeshSet3D& meshset1, const MeshSet3D& meshset2); 00049 static void removeIsolatedVertices(MeshSet3D& srcdest); 00050 }; 00051 00052 //============================================================================== 00053 } // NAMESPACE rtc 00054 //============================================================================== 00055 #endif // MESHSET3DHELPER_H_ defined 00056 //==============================================================================