Point Cloud Library (PCL)  1.7.0
hypothesis.h
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38 
39 /*
40  * hypothesis.h
41  *
42  * Created on: Mar 12, 2013
43  * Author: papazov
44  */
45 
46 #ifndef PCL_RECOGNITION_HYPOTHESIS_H_
47 #define PCL_RECOGNITION_HYPOTHESIS_H_
48 
49 #include <pcl/recognition/ransac_based/model_library.h>
50 #include <pcl/recognition/ransac_based/auxiliary.h>
51 
52 namespace pcl
53 {
54  namespace recognition
55  {
57  {
58  public:
60  : obj_model_ (obj_model)
61  {}
62 
63  HypothesisBase (const ModelLibrary::Model* obj_model, const float* rigid_transform)
64  : obj_model_ (obj_model)
65  {
66  memcpy (rigid_transform_, rigid_transform, 12*sizeof (float));
67  }
68 
69  virtual ~HypothesisBase (){}
70 
71  void
73  {
74  obj_model_ = model;
75  }
76 
77  public:
78  float rigid_transform_[12];
80  };
81 
82  class Hypothesis: public HypothesisBase
83  {
84  public:
85  Hypothesis (const ModelLibrary::Model* obj_model = NULL)
86  : HypothesisBase (obj_model),
87  match_confidence_ (-1.0f),
88  linear_id_ (-1)
89  {
90  }
91 
92  Hypothesis (const Hypothesis& src)
96  {
97  }
98 
99  virtual ~Hypothesis (){}
100 
101  const Hypothesis&
102  operator =(const Hypothesis& src)
103  {
104  memcpy (this->rigid_transform_, src.rigid_transform_, 12*sizeof (float));
105  this->obj_model_ = src.obj_model_;
108 
109  return *this;
110  }
111 
112  void
113  setLinearId (int id)
114  {
115  linear_id_ = id;
116  }
117 
118  int
119  getLinearId () const
120  {
121  return (linear_id_);
122  }
123 
124  void
125  computeBounds (float bounds[6]) const
126  {
127  const float *b = obj_model_->getBoundsOfOctreePoints ();
128  float p[3];
129 
130  // Initialize 'bounds'
131  aux::transform (rigid_transform_, b[0], b[2], b[4], p);
132  bounds[0] = bounds[1] = p[0];
133  bounds[2] = bounds[3] = p[1];
134  bounds[4] = bounds[5] = p[2];
135 
136  // Expand 'bounds' to contain the other 7 points of the octree bounding box
137  aux::transform (rigid_transform_, b[0], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
138  aux::transform (rigid_transform_, b[0], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
139  aux::transform (rigid_transform_, b[0], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
140  aux::transform (rigid_transform_, b[1], b[2], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
141  aux::transform (rigid_transform_, b[1], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
142  aux::transform (rigid_transform_, b[1], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
143  aux::transform (rigid_transform_, b[1], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
144  }
145 
146  void
147  computeCenterOfMass (float center_of_mass[3]) const
148  {
150  }
151 
152  public:
154  std::set<int> explained_pixels_;
156  };
157  } // namespace recognition
158 } // namespace pcl
159 
160 #endif /* PCL_RECOGNITION_HYPOTHESIS_H_ */
Stores some information about the model.
Definition: model_library.h:66
void expandBoundingBoxToContainPoint(T bbox[6], const T p[3])
Expands the bounding box &#39;bbox&#39; such that it contains the point &#39;p&#39;.
Definition: auxiliary.h:97
void computeBounds(float bounds[6]) const
Definition: hypothesis.h:125
Hypothesis(const ModelLibrary::Model *obj_model=NULL)
Definition: hypothesis.h:85
HypothesisBase(const ModelLibrary::Model *obj_model, const float *rigid_transform)
Definition: hypothesis.h:63
const float * getOctreeCenterOfMass() const
const float * getBoundsOfOctreePoints() const
void setModel(const ModelLibrary::Model *model)
Definition: hypothesis.h:72
HypothesisBase(const ModelLibrary::Model *obj_model)
Definition: hypothesis.h:59
Hypothesis(const Hypothesis &src)
Definition: hypothesis.h:92
std::set< int > explained_pixels_
Definition: hypothesis.h:154
const Hypothesis & operator=(const Hypothesis &src)
Definition: hypothesis.h:102
void computeCenterOfMass(float center_of_mass[3]) const
Definition: hypothesis.h:147
void transform(const T t[12], const T p[3], T out[3])
The first 9 elements of &#39;t&#39; are treated as a 3x3 matrix (row major order) and the last 3 as a transla...
Definition: auxiliary.h:299
const ModelLibrary::Model * obj_model_
Definition: hypothesis.h:79