polygon_primitive_planefitting.cpp

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#ifndef _polygon_primitive_planefitting_CPP_
#define _polygon_primitive_planefitting_CPP_


#include "polygon_primitive.h"

#include <CGAL/Cartesian.h>
#include <CGAL/linear_least_squares_fitting_3.h>
#include <list>

double c_polygon_primitive::fit_plane_to_pc(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin, pcl::ModelCoefficients::Ptr plane)
{

        //STEP1. Create a list of pts xyz
        std::list<CGAL::Cartesian<double>::Point_3> points;

        for (int i=0; i<(int)pcin->points.size(); i++)
        {
                points.push_back(CGAL::Cartesian<double>::Point_3(pcin->points[i].x, pcin->points[i].y, pcin->points[i].z));
        }

        //STEP2. Fit the plane to the list of points 
        CGAL::Cartesian<double>::Plane_3 pl;
        double fit_quality = CGAL::linear_least_squares_fitting_3(points.begin(),points.end(),pl,CGAL::Dimension_tag<0>());

        //STEP3. Copy to the model coefficients
        plane->values[0] = pl.a();
        plane->values[1] = pl.b();
        plane->values[2] = pl.c();
        plane->values[3] = pl.d();

return fit_quality;}

double c_polygon_primitive::fit_plane_to_two_pc_and_ratio(pcl::PointCloud<pcl::PointXYZ>::Ptr pcin1,  pcl::PointCloud<pcl::PointXYZ>::Ptr pcin2, double ratio, pcl::ModelCoefficients::Ptr plane)
{

        //STEP1. Create a list of pts xyz
        std::list<CGAL::Cartesian<double>::Point_3> points;

        //find out many insertions of points according to ratio
        double weight_pcin1 = (1-ratio)/(double)pcin1->points.size();
        double weight_pcin2 = ratio/(double)pcin2->points.size();

        //int count_pcin1 = (int)(weight_pcin1*((int)pcin1->points.size() + (int)pcin2->points.size()));        
        //int count_pcin2 = (int)(weight_pcin2*((int)pcin1->points.size() + (int)pcin2->points.size()));        
        
        //ROS_INFO("weight_pcin1 %f count_pcin1 %d", weight_pcin1, count_pcin1);
        //ROS_INFO("weight_pcin2 %f count_pcin2 %d", weight_pcin2, count_pcin2);

        for (int i=0; i<(int)pcin1->points.size(); i++)
        {
                for (double j=0; j<weight_pcin1; j+=0.00001)
                        points.push_back(CGAL::Cartesian<double>::Point_3(pcin1->points[i].x, pcin1->points[i].y, pcin1->points[i].z));
        }

        for (int i=0; i<(int)pcin2->points.size(); i++)
        {
                for (double j=0; j<weight_pcin2; j+=0.00001)
                        points.push_back(CGAL::Cartesian<double>::Point_3(pcin2->points[i].x, pcin2->points[i].y, pcin2->points[i].z));
        }

        //STEP2. Fit the plane to the list of points 
        CGAL::Cartesian<double>::Plane_3 pl;
        double fit_quality = CGAL::linear_least_squares_fitting_3(points.begin(),points.end(),pl,CGAL::Dimension_tag<0>());

        //STEP3. Copy to the model coefficients
        plane->values[0] = pl.a();
        plane->values[1] = pl.b();
        plane->values[2] = pl.c();
        plane->values[3] = pl.d();

return fit_quality;}




#endif

/*Previous 3 lines appended automatically on Sun Feb  5 19:40:16 WET 2012 */