ann_grid.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PLANNER_ANN_GRID_H_
00038 #define JSK_FOOTSTEP_PLANNER_ANN_GRID_H_
00039 
00040 #include <boost/tuple/tuple.hpp>
00041 #include <boost/unordered/unordered_set.hpp>
00042 #include <pcl/point_types.h>
00043 #include <pcl/point_cloud.h>
00044 #include <pcl/PointIndices.h>
00045 
00046 #include <opencv2/opencv.hpp>
00047 
00048 #include <ros/ros.h>
00049 
00050 namespace jsk_footstep_planner
00051 {
00052   class ANNGridCell
00053   {
00054   public:
00055     typedef boost::shared_ptr<ANNGridCell> Ptr;
00056     typedef boost::unordered_set<size_t> Indices;
00057     ANNGridCell() {}
00058     virtual ~ANNGridCell() {}
00059     virtual void add(size_t i)
00060     {
00061       indices_.insert(i);
00062     }
00063     virtual Indices get()
00064     {
00065       return indices_;
00066     }
00067 
00068     virtual void fill(Indices& out)
00069     {
00070       for (Indices::iterator it = indices_.begin(); it != indices_.end(); ++it) {
00071         out.insert(*it);
00072       }
00073     }
00074     virtual void fill(std::vector<int>& out)
00075     {
00076       for (Indices::iterator it = indices_.begin(); it != indices_.end(); ++it) {
00077         out.push_back(*it);
00078       }
00079     }
00080   protected:
00081     Indices indices_;
00082   private:
00083     
00084   };
00085 
00086 
00093   class ANNGrid
00094   {
00095   public:
00096     typedef boost::shared_ptr<ANNGrid> Ptr;
00097     typedef cv::Point Index;
00098     typedef std::vector<Index> IndexArray;
00099     ANNGrid(const double grid_size): grid_size_(grid_size) {}
00100     virtual ~ANNGrid()
00101     {
00102     }
00103     
00104     virtual void build(const pcl::PointCloud<pcl::PointNormal>& cloud);
00105     
00106     virtual Index pointToIndex(const pcl::PointNormal& p) const
00107     {
00108       Eigen::Vector3f v = p.getVector3fMap();
00109       Eigen::Vector3f translated_point = v - min_point_;
00110       int i = (int)std::floor(translated_point[0] / grid_size_);
00111       int j = (int)std::floor(translated_point[1] / grid_size_);
00112       return cv::Point(i, j);
00113     }
00114     
00115     virtual Index pointToIndex(const Eigen::Vector3f& p) const
00116     {
00117       Eigen::Vector3f translated_point = p - min_point_;
00118       int i = (int)std::floor(translated_point[0] / grid_size_);
00119       int j = (int)std::floor(translated_point[1] / grid_size_);
00120       return cv::Point(i, j);
00121     }
00122 
00123     inline ANNGridCell::Ptr getCell(size_t i, size_t j)
00124     {
00125       // TODO: is this check correct?
00126       if (cells_.size() > i) {
00127         if (cells_[i].size() > j) {
00128           return cells_[i][j];
00129         }
00130         else {
00131           return ANNGridCell::Ptr();
00132         }
00133       }
00134       else {
00135         return ANNGridCell::Ptr();
00136       }
00137     }
00138     
00139     virtual void approximateSearch(const Eigen::Vector3f& v, pcl::PointIndices& indices);
00140     virtual IndexArray bresenham(const Eigen::Vector3f& p0, const Eigen::Vector3f& p1);
00141     // fill method is not mt safe
00142     virtual IndexArray fill(const IndexArray& filled);
00143     virtual IndexArray fillByBox(
00144       const Eigen::Vector3f& p0, const Eigen::Vector3f& p1,
00145       const Eigen::Vector3f& p2, const Eigen::Vector3f& p3);
00146     virtual void approximateSearchInBox(
00147       const Eigen::Vector3f& p0, const Eigen::Vector3f& p1,
00148       const Eigen::Vector3f& p2, const Eigen::Vector3f& p3,
00149       pcl::PointIndices& indices);
00150 
00151     virtual IndexArray box(const Eigen::Vector3f& p0, const Eigen::Vector3f& p1,
00152                            const Eigen::Vector3f& p2, const Eigen::Vector3f& p3);
00153     virtual void toImage(cv::Mat& mat);
00154     virtual void toImage(cv::Mat& mat, const IndexArray& pixels);
00155   protected:
00156 
00157     const double grid_size_;
00158     std::vector<std::vector<ANNGridCell::Ptr> > cells_;
00159     cv::Mat mat_;
00160     Eigen::Vector3f min_point_;
00161   private:
00162     
00163   };
00164 }
00165 
00166 #endif


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jul 19 2017 02:54:28