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SQFitting.h
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SQFitting.h
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/*
* Software License Agreement (BSD License)
*
* Object Pose Estimation (OPE) - www.cse.usf.edu/kkduncan/ope
* Copyright (c) 2013, Kester Duncan
*
* 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.
*
* 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.
*
* \file SQFitting.h
* \brief Performs superquadric fitting on a point cloud
* \author Kester Duncan
* \note Adapted from G. Biegelbauer's implementation
* \details Defines all the functions necessary for Superquadric fitting
*/
#pragma once
#ifndef SQ_FITTING_H__
#define SQ_FITTING_H__
#include "Minimization.h"
////////////// Forward declarations to avoid large headers ////////////////
namespace pcl {
class PointXYZ;
template<class T> class PointCloud;
} // pcl
class SQParameters;
namespace ope {
/**
* \brief Fits a parametric superquadric to a point cloud
*/
class SQFitting {
private:
/**
* \brief Object to execute all minimization functions
*/
Minimization minProcess;
public:
/// Constructor
SQFitting();
/// Destructor
~SQFitting();
/**
* \brief Initializes the Levenberg-Marquadt minimization parameters used for sq estimation
*/
void initializeMinimizationParameters (SQParameters& sqParams);
/**
* \brief Estimate the parameters of a superquadric from the given point cloud
* \return the eigen vector index with the largest variance
*/
int estimateParameters(const pcl::PointCloud<pcl::PointXYZ>& cloud, SQParameters& sqParams, const int& eigenVector);
/**
* \brief Estimate the parameters of a superquadric from the given point cloud
* \return the eigen vector index with the largest variance
*/
int estimateParametersNew(const pcl::PointCloud<pcl::PointXYZ>& cloud, SQParameters& sqParams, const int& eigenVector);
/**
* \brief Estimate the initial SQ parameters based on eigen analysis
*/
void estimateInitialParameters(pcl::PointCloud<pcl::PointXYZ>& cloud, SQParameters& sqParams);
/**
* \brief Determines the total error (quality) of fit of superquadric parameters
*/
double qualityOfFit(pcl::PointCloud<pcl::PointXYZ>& cloud, SQParameters& sqParams);
/**
* \brief Recover the parameters of the superquadric that best fits the given point cloud
*/
double recoverParameters(const pcl::PointCloud<pcl::PointXYZ>& cloud, SQParameters& prm);
/**
* \brief Executes the superquadric shape fitting process on a point cloud and gets the best parameters
* \param <initParams> the initial superquadric parameters for the given cloud
* \param <bestParams> the final superquadric parameters recovered after processing
*/
void performShapeFitting(const pcl::PointCloud<pcl::PointXYZ>& cloud, SQParameters& initParams, SQParameters& bestParams);
};
} // ope
#endif /* SQ_FITTING_H__ */