visibility_confidence.h
Go to the documentation of this file.
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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:37:29