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SQTypes.h
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SQTypes.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 SQTypes.h
* \brief Defines types used for Superquadric shape fitting
* \author Kester Duncan
*/
#pragma once
#ifndef __SHAPEFITTINGTYPES_H__
#define __SHAPEFITTINGTYPES_H__
#include <iostream>
#include "OPESettings.h"
/** \namespace ope
* Namespace where all the Object Pose Estimation functionality resides
*/
namespace ope {
/// Defines the numerical property of a superquadric parameter
typedef enum ParameterType {
UNCHANGED = 1,
BOUNDED,
UNLIMITED,
NOT_USED,
OFFSET
} ParameterType;
/// Defines the upper and lower limits for superquadric parameters
typedef struct ParameterLimits {
ParameterType type;
double value;
double lowerBound;
double upperBound;
ParameterLimits() : value(0.f), lowerBound(0.f), upperBound(0.f) {}
} ParameterLimits;
/// Defines the minimization parameters that would be used for minimization during SQ fitting
typedef struct MinimizationParameters {
int iterations;
ParameterLimits a1;
ParameterLimits a2;
ParameterLimits a3;
ParameterLimits e1;
ParameterLimits e2;
ParameterLimits phi;
ParameterLimits theta;
ParameterLimits psi;
ParameterLimits px;
ParameterLimits py;
ParameterLimits pz;
ParameterLimits kx;
ParameterLimits ky;
MinimizationParameters() : iterations(20) {}
} MinimizationParameters;
/**
* \brief Defines the Superquadric parameters used for object pose estimation
*
*/
class SQParameters{
public:
/// The shape dimension for the x-axis
double a1;
/// The shape dimension for the y-axis
double a2;
/// The shape dimension for the z-axis
double a3;
/// The north-south superquadric shape parameter
double e1;
/// The east-west superquadric shape parameter
double e2;
/// The x-axis location of the centroid of this superquadric
double px;
/// The y-axis location of the centroid of this superquadric
double py;
/// The z-axis location of the centroid of this superquadric
double pz;
/// Euler rotation angle along the x-axis
double phi;
/// Euler rotation angle along the y-axis
double theta;
/// Euler rotation angle along the x-axis
double psi;
/// Tapering parameter along the x-axis
double kx;
/// Tapering parameter along the y-axis
double ky;
/// Index of the principal axis in the calculated rotation matrix
int principalAxis;
int majorAxis;
int minorAxis;
/// Minimization properties
MinimizationParameters min;
/// Default Constructor
SQParameters() {
a1 = 0.0; a2 = 0.0; a3 = 0.0;
e1 = 1.0; e2 = 1.0;
px = 0.0; py = 0.0; pz = 0.0;
phi = 0.0; theta = 0.0; psi = 0.0;
kx = 0.0; ky = 0.0;
principalAxis = 0;
majorAxis = 0;
minorAxis = 0;
min.iterations = 20;
min.a1.type = BOUNDED;
min.a1.lowerBound = 0.020;
min.a1.upperBound = 0.30;
a1 = 0.05;
min.a2.type = BOUNDED;
min.a2.lowerBound = 0.020;
min.a2.upperBound = 0.30;
a2 = 0.05;
min.a3.type = BOUNDED;
min.a3.lowerBound = 0.020;
min.a3.upperBound = 0.30;
a3 = 0.05;
min.e1.type = BOUNDED;
min.e1.lowerBound = 0.1;
min.e1.upperBound = 2.0;
e1 = 1;
min.e2.type = BOUNDED;
min.e2.lowerBound = 0.1f;
min.e2.upperBound = 2.0f;
e2 = 1;
min.phi.type = UNLIMITED;
min.theta.type = UNLIMITED;
min.psi.type = UNLIMITED;
min.phi.value = 1.0;
min.theta.value = 1.0;
min.psi.value = 1.0;
min.px.type = UNLIMITED;
min.py.type = UNLIMITED;
min.pz.type = UNLIMITED;
min.kx.type = BOUNDED;
min.kx.lowerBound = -1.0;
min.kx.upperBound = 1.0;
min.kx.value = 0.0;
kx = 1.0;
min.ky.type = BOUNDED;
min.ky.lowerBound = -1.0;
min.ky.upperBound = 1.0;
min.ky.value = 0.0;
ky = 1.0;
}
/// Deep copy of this class' properties
void copyTo(SQParameters& sqParams) {
sqParams.a1 = this->a1;
sqParams.a2 = this->a2;
sqParams.a3 = this->a3;
sqParams.e1 = this->e1;
sqParams.e2 = this->e2;
sqParams.psi = this->psi;
sqParams.theta = this->theta;
sqParams.phi = this->phi;
sqParams.px = this->px;
sqParams.py = this->py;
sqParams.pz = this->pz;
sqParams.kx = this->kx;
sqParams.ky = this->ky;
sqParams.principalAxis = this->principalAxis;
sqParams.majorAxis = this->majorAxis;
sqParams.minorAxis = this->minorAxis;
sqParams.min.a1.lowerBound = this->min.a1.lowerBound;
sqParams.min.a1.upperBound = this->min.a1.upperBound;
sqParams.min.a1.type = this->min.a1.type;
sqParams.min.a1.value = this->min.a1.value;
sqParams.min.a2.lowerBound = this->min.a2.lowerBound;
sqParams.min.a2.upperBound = this->min.a2.upperBound;
sqParams.min.a2.type = this->min.a2.type;
sqParams.min.a2.value = this->min.a2.value;
sqParams.min.a3.lowerBound = this->min.a3.lowerBound;
sqParams.min.a3.upperBound = this->min.a3.upperBound;
sqParams.min.a3.type = this->min.a3.type;
sqParams.min.a3.value = this->min.a3.value;
sqParams.min.e1.lowerBound = this->min.e1.lowerBound;
sqParams.min.e1.upperBound = this->min.e1.upperBound;
sqParams.min.e1.type = this->min.e1.type;
sqParams.min.e1.value = this->min.e1.value;
sqParams.min.e2.lowerBound = this->min.e2.lowerBound;
sqParams.min.e2.upperBound = this->min.e2.upperBound;
sqParams.min.e2.type = this->min.e2.type;
sqParams.min.e2.value = this->min.e2.value;
sqParams.min.psi.lowerBound = this->min.psi.lowerBound;
sqParams.min.psi.upperBound = this->min.psi.upperBound;
sqParams.min.psi.type = this->min.psi.type;
sqParams.min.psi.value = this->min.psi.value;
sqParams.min.theta.lowerBound = this->min.theta.lowerBound;
sqParams.min.theta.upperBound = this->min.theta.upperBound;
sqParams.min.theta.type = this->min.theta.type;
sqParams.min.theta.value = this->min.theta.value;
sqParams.min.phi.lowerBound = this->min.phi.lowerBound;
sqParams.min.phi.upperBound = this->min.phi.upperBound;
sqParams.min.phi.type = this->min.phi.type;
sqParams.min.phi.value = this->min.phi.value;
sqParams.min.px.lowerBound = this->min.px.lowerBound;
sqParams.min.px.upperBound = this->min.px.upperBound;
sqParams.min.px.type = this->min.px.type;
sqParams.min.px.value = this->min.px.value;
sqParams.min.py.lowerBound = this->min.py.lowerBound;
sqParams.min.py.upperBound = this->min.py.upperBound;
sqParams.min.py.type = this->min.py.type;
sqParams.min.py.value = this->min.py.value;
sqParams.min.pz.lowerBound = this->min.pz.lowerBound;
sqParams.min.pz.upperBound = this->min.pz.upperBound;
sqParams.min.pz.type = this->min.pz.type;
sqParams.min.pz.value = this->min.pz.value;
sqParams.min.kx.lowerBound = this->min.kx.lowerBound;
sqParams.min.kx.upperBound = this->min.kx.upperBound;
sqParams.min.kx.type = this->min.kx.type;
sqParams.min.kx.value = this->min.kx.value;
sqParams.min.ky.lowerBound = this->min.ky.lowerBound;
sqParams.min.ky.upperBound = this->min.ky.upperBound;
sqParams.min.ky.type = this->min.ky.type;
sqParams.min.ky.value = this->min.ky.value;
sqParams.min.iterations = this->min.iterations;
}
/**
* \brief Prints the superquadric parameters to an output stream
*/
friend std::ostream& operator<<(std::ostream &os, const SQParameters& sq) {
os << ">>\t Superquadric Parameters:\n";
os << "\t [location] (px, py, pz) --> (" << sq.px << ", " << sq.py << ", " << sq.pz << ")\n";
os << "\t [dimensions] (a1, a2, a3) --> (" << sq.a1 << ", " << sq.a2 << ", " << sq.a3 << ")\n";
os << "\t [rotation] (phi, theta, psi) --> (" << sq.phi << ", " << sq.theta << ", " << sq.psi << ")\n";
os << "\t [shape] (e1, e2) --> (" << sq.e1 << ", " << sq.e2 << ")\n";
os << "\t [tapering] (kx, ky) --> (" << sq.kx << ", " << sq.ky << ")\n";
os << std::endl;
return os;
}
};
} // ope
#endif /* __SHAPEFITTINGTYPES_H__ */