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visibility_confidence.cpp
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#include "visibility_confidence.h"
pcl::ihs::Dome::Dome ()
{
vertices_.col ( 0) = Eigen::Vector4f (-0.000000119f, 0.000000000f, 1.000000000f, 0.f);
vertices_.col ( 1) = Eigen::Vector4f ( 0.894427180f, 0.000000000f, 0.447213739f, 0.f);
vertices_.col ( 2) = Eigen::Vector4f ( 0.276393145f, 0.850650907f, 0.447213650f, 0.f);
vertices_.col ( 3) = Eigen::Vector4f (-0.723606884f, 0.525731146f, 0.447213531f, 0.f);
vertices_.col ( 4) = Eigen::Vector4f (-0.723606884f, -0.525731146f, 0.447213531f, 0.f);
vertices_.col ( 5) = Eigen::Vector4f ( 0.276393145f, -0.850650907f, 0.447213650f, 0.f);
vertices_.col ( 6) = Eigen::Vector4f ( 0.343278527f, 0.000000000f, 0.939233720f, 0.f);
vertices_.col ( 7) = Eigen::Vector4f ( 0.686557174f, 0.000000000f, 0.727075875f, 0.f);
vertices_.col ( 8) = Eigen::Vector4f ( 0.792636156f, 0.326477438f, 0.514918089f, 0.f);
vertices_.col ( 9) = Eigen::Vector4f ( 0.555436373f, 0.652954817f, 0.514918029f, 0.f);
vertices_.col (10) = Eigen::Vector4f ( 0.106078848f, 0.326477438f, 0.939233720f, 0.f);
vertices_.col (11) = Eigen::Vector4f ( 0.212157741f, 0.652954817f, 0.727075756f, 0.f);
vertices_.col (12) = Eigen::Vector4f (-0.065560505f, 0.854728878f, 0.514917910f, 0.f);
vertices_.col (13) = Eigen::Vector4f (-0.449357629f, 0.730025530f, 0.514917850f, 0.f);
vertices_.col (14) = Eigen::Vector4f (-0.277718395f, 0.201774135f, 0.939233661f, 0.f);
vertices_.col (15) = Eigen::Vector4f (-0.555436671f, 0.403548241f, 0.727075696f, 0.f);
vertices_.col (16) = Eigen::Vector4f (-0.833154857f, 0.201774105f, 0.514917850f, 0.f);
vertices_.col (17) = Eigen::Vector4f (-0.833154857f, -0.201774150f, 0.514917850f, 0.f);
vertices_.col (18) = Eigen::Vector4f (-0.277718395f, -0.201774135f, 0.939233661f, 0.f);
vertices_.col (19) = Eigen::Vector4f (-0.555436671f, -0.403548241f, 0.727075696f, 0.f);
vertices_.col (20) = Eigen::Vector4f (-0.449357659f, -0.730025649f, 0.514917910f, 0.f);
vertices_.col (21) = Eigen::Vector4f (-0.065560460f, -0.854728937f, 0.514917850f, 0.f);
vertices_.col (22) = Eigen::Vector4f ( 0.106078848f, -0.326477438f, 0.939233720f, 0.f);
vertices_.col (23) = Eigen::Vector4f ( 0.212157741f, -0.652954817f, 0.727075756f, 0.f);
vertices_.col (24) = Eigen::Vector4f ( 0.555436373f, -0.652954757f, 0.514917970f, 0.f);
vertices_.col (25) = Eigen::Vector4f ( 0.792636156f, -0.326477349f, 0.514918089f, 0.f);
vertices_.col (26) = Eigen::Vector4f ( 0.491123378f, 0.356822133f, 0.794654608f, 0.f);
vertices_.col (27) = Eigen::Vector4f (-0.187592626f, 0.577350259f, 0.794654429f, 0.f);
vertices_.col (28) = Eigen::Vector4f (-0.607062101f, -0.000000016f, 0.794654369f, 0.f);
vertices_.col (29) = Eigen::Vector4f (-0.187592626f, -0.577350378f, 0.794654489f, 0.f);
vertices_.col (30) = Eigen::Vector4f ( 0.491123348f, -0.356822133f, 0.794654548f, 0.f);
for (unsigned int i=0; i<vertices_.cols (); ++i)
{
vertices_.col (i).head <3> ().normalize ();
}
}
////////////////////////////////////////////////////////////////////////////////
pcl::ihs::Dome::Vertices
pcl::ihs::Dome::getVertices () const
{
return (vertices_);
}
////////////////////////////////////////////////////////////////////////////////
namespace pcl
{
namespace ihs
{
static const pcl::ihs::Dome dome;
} // End namespace ihs
} // End namespace pcl
////////////////////////////////////////////////////////////////////////////////
void
pcl::ihs::addDirection (const Eigen::Vector4f& normal,
const Eigen::Vector4f& direction,
uint32_t& directions)
{
// Find the rotation that aligns the normal with [0; 0; 1]
const float dot = normal.z ();
Eigen::Isometry3f R = Eigen::Isometry3f::Identity ();
// No need to transform if the normal is already very close to [0; 0; 1] (also avoids numerical issues)
// TODO: The threshold is hard coded for a frequency=3.
// It can be calculated with
// - max_z = maximum z value of the dome vertices (excluding [0; 0; 1])
// - thresh = cos (acos (max_z) / 2)
// - always round up!
// - with max_z = 0.939 -> thresh = 0.9847 ~ 0.985
if (dot <= .985f)
{
const Eigen::Vector3f axis = Eigen::Vector3f (normal.y (), -normal.x (), 0.f).normalized ();
R = Eigen::Isometry3f (Eigen::AngleAxisf (std::acos (dot), axis));
}
// Transform the direction into the dome coordinate system (which is aligned with the normal)
Eigen::Vector4f aligned_direction = (R * direction);
aligned_direction.head <3> ().normalize ();
if (aligned_direction.z () < 0)
{
return;
}
// Find the closest viewing direction
// NOTE: cos (0deg) = 1 = max
// acos (angle) = dot (a, b) / (norm (a) * norm (b)
// m_sphere_vertices are already normalized
unsigned int index = 0;
aligned_direction.transpose ().lazyProduct (pcl::ihs::dome.getVertices ()).maxCoeff (&index);
// Set the observed direction bit at 'index'
// http://stackoverflow.com/questions/47981/how-do-you-set-clear-and-toggle-a-single-bit-in-c/47990#47990
directions |= (1 << index);
}
////////////////////////////////////////////////////////////////////////////////
unsigned int
pcl::ihs::countDirections (const uint32_t directions)
{
// http://stackoverflow.com/questions/109023/best-algorithm-to-count-the-number-of-set-bits-in-a-32-bit-integer/109025#109025
unsigned int i = directions - ((directions >> 1) & 0x55555555);
i = (i & 0x33333333) + ((i >> 2) & 0x33333333);
return ((((i + (i >> 4)) & 0x0F0F0F0F) * 0x01010101) >> 24);
}
////////////////////////////////////////////////////////////////////////////////