Point Cloud Library (PCL)  1.12.1-dev
hypothesis.h
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38 
39 /*
40  * hypothesis.h
41  *
42  * Created on: Mar 12, 2013
43  * Author: papazov
44  */
45 
46 #pragma once
47 
48 #include <pcl/recognition/ransac_based/model_library.h>
49 #include <pcl/recognition/ransac_based/auxiliary.h>
50 
51 namespace pcl
52 {
53  namespace recognition
54  {
56  {
57  public:
59  : obj_model_ (obj_model)
60  {}
61 
62  HypothesisBase (const ModelLibrary::Model* obj_model, const float* rigid_transform)
63  : obj_model_ (obj_model)
64  {
65  std::copy(rigid_transform, rigid_transform + 12, rigid_transform_);
66  }
67 
68  virtual ~HypothesisBase () = default;
69 
70  void
72  {
73  obj_model_ = model;
74  }
75 
76  public:
77  float rigid_transform_[12];
79  };
80 
81  class Hypothesis: public HypothesisBase
82  {
83  public:
84  Hypothesis (const ModelLibrary::Model* obj_model = nullptr)
85  : HypothesisBase (obj_model),
86  match_confidence_ (-1.0f),
87  linear_id_ (-1)
88  {
89  }
90 
91  Hypothesis (const Hypothesis& src)
95  {
96  }
97 
98  ~Hypothesis () override = default;
99 
100  const Hypothesis&
101  operator =(const Hypothesis& src)
102  {
103  std::copy(src.rigid_transform_, src.rigid_transform_ + 12, this->rigid_transform_);
104  this->obj_model_ = src.obj_model_;
107 
108  return *this;
109  }
110 
111  void
112  setLinearId (int id)
113  {
114  linear_id_ = id;
115  }
116 
117  int
118  getLinearId () const
119  {
120  return (linear_id_);
121  }
122 
123  void
124  computeBounds (float bounds[6]) const
125  {
126  const float *b = obj_model_->getBoundsOfOctreePoints ();
127  float p[3];
128 
129  // Initialize 'bounds'
130  aux::transform (rigid_transform_, b[0], b[2], b[4], p);
131  bounds[0] = bounds[1] = p[0];
132  bounds[2] = bounds[3] = p[1];
133  bounds[4] = bounds[5] = p[2];
134 
135  // Expand 'bounds' to contain the other 7 points of the octree bounding box
136  aux::transform (rigid_transform_, b[0], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
137  aux::transform (rigid_transform_, b[0], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
138  aux::transform (rigid_transform_, b[0], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
139  aux::transform (rigid_transform_, b[1], b[2], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
140  aux::transform (rigid_transform_, b[1], b[2], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
141  aux::transform (rigid_transform_, b[1], b[3], b[4], p); aux::expandBoundingBoxToContainPoint (bounds, p);
142  aux::transform (rigid_transform_, b[1], b[3], b[5], p); aux::expandBoundingBoxToContainPoint (bounds, p);
143  }
144 
145  void
146  computeCenterOfMass (float center_of_mass[3]) const
147  {
149  }
150 
151  public:
153  std::set<int> explained_pixels_;
155  };
156  } // namespace recognition
157 } // namespace pcl
HypothesisBase(const ModelLibrary::Model *obj_model)
Definition: hypothesis.h:58
void setModel(const ModelLibrary::Model *model)
Definition: hypothesis.h:71
virtual ~HypothesisBase()=default
HypothesisBase(const ModelLibrary::Model *obj_model, const float *rigid_transform)
Definition: hypothesis.h:62
const ModelLibrary::Model * obj_model_
Definition: hypothesis.h:78
~Hypothesis() override=default
void computeCenterOfMass(float center_of_mass[3]) const
Definition: hypothesis.h:146
std::set< int > explained_pixels_
Definition: hypothesis.h:153
Hypothesis(const Hypothesis &src)
Definition: hypothesis.h:91
Hypothesis(const ModelLibrary::Model *obj_model=nullptr)
Definition: hypothesis.h:84
const Hypothesis & operator=(const Hypothesis &src)
Definition: hypothesis.h:101
void computeBounds(float bounds[6]) const
Definition: hypothesis.h:124
Stores some information about the model.
Definition: model_library.h:65
const float * getOctreeCenterOfMass() const
const float * getBoundsOfOctreePoints() const
void expandBoundingBoxToContainPoint(T bbox[6], const T p[3])
Expands the bounding box 'bbox' such that it contains the point 'p'.
Definition: auxiliary.h:95
void transform(const T t[12], const T p[3], T out[3])
The first 9 elements of 't' are treated as a 3x3 matrix (row major order) and the last 3 as a transla...
Definition: auxiliary.h:304