Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: project_inliers.hpp 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_IMPL_PROJECT_INLIERS_H_ 00039 #define PCL_FILTERS_IMPL_PROJECT_INLIERS_H_ 00040 00041 #include "pcl/filters/project_inliers.h" 00042 00044 template <typename PointT> void 00045 pcl::ProjectInliers<PointT>::applyFilter (PointCloud &output) 00046 { 00047 if (indices_->empty ()) 00048 { 00049 PCL_WARN ("[pcl::%s::applyFilter] No indices given or empty indices!\n", getClassName ().c_str ()); 00050 output.width = output.height = 0; 00051 output.points.clear (); 00052 return; 00053 } 00054 00055 //Eigen::Map<Eigen::VectorXf, Eigen::Aligned> model_coefficients (&model_->values[0], model_->values.size ()); 00056 // More expensive than a map but safer (32bit architectures seem to complain) 00057 Eigen::VectorXf model_coefficients (model_->values.size ()); 00058 for (size_t i = 0; i < model_->values.size (); ++i) 00059 model_coefficients[i] = model_->values[i]; 00060 00061 // Initialize the Sample Consensus model and set its parameters 00062 if (!initSACModel (model_type_)) 00063 { 00064 PCL_ERROR ("[pcl::%s::segment] Error initializing the SAC model!\n", getClassName ().c_str ()); 00065 output.width = output.height = 0; 00066 output.points.clear (); 00067 return; 00068 } 00069 if (copy_all_data_) 00070 sacmodel_->projectPoints (*indices_, model_coefficients, output, true); 00071 else 00072 sacmodel_->projectPoints (*indices_, model_coefficients, output, false); 00073 } 00074 00076 template <typename PointT> bool 00077 pcl::ProjectInliers<PointT>::initSACModel (int model_type) 00078 { 00079 // Build the model 00080 switch (model_type) 00081 { 00082 case SACMODEL_PLANE: 00083 { 00084 //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_PLANE\n", getClassName ().c_str ()); 00085 sacmodel_.reset (new SampleConsensusModelPlane<PointT> (input_)); 00086 break; 00087 } 00088 case SACMODEL_LINE: 00089 { 00090 //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_LINE\n", getClassName ().c_str ()); 00091 sacmodel_.reset (new SampleConsensusModelLine<PointT> (input_)); 00092 break; 00093 } 00094 case SACMODEL_CIRCLE2D: 00095 { 00096 //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_CIRCLE2D\n", getClassName ().c_str ()); 00097 sacmodel_.reset (new SampleConsensusModelCircle2D<PointT> (input_)); 00098 break; 00099 } 00100 case SACMODEL_SPHERE: 00101 { 00102 //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_SPHERE\n", getClassName ().c_str ()); 00103 sacmodel_.reset (new SampleConsensusModelSphere<PointT> (input_)); 00104 break; 00105 } 00106 case SACMODEL_PARALLEL_LINE: 00107 { 00108 //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_PARALLEL_LINE\n", getClassName ().c_str ()); 00109 sacmodel_.reset (new SampleConsensusModelParallelLine<PointT> (input_)); 00110 break; 00111 } 00112 case SACMODEL_PERPENDICULAR_PLANE: 00113 { 00114 //PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: SACMODEL_PERPENDICULAR_PLANE\n", getClassName ().c_str ()); 00115 sacmodel_.reset (new SampleConsensusModelPerpendicularPlane<PointT> (input_)); 00116 break; 00117 } 00118 case SACMODEL_CYLINDER: 00119 { 00120 //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_CYLINDER\n", getClassName ().c_str ()); 00121 sacmodel_.reset (new SampleConsensusModelCylinder<PointT, pcl::Normal> (input_)); 00122 break; 00123 } 00124 case SACMODEL_NORMAL_PLANE: 00125 { 00126 //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_NORMAL_PLANE\n", getClassName ().c_str ()); 00127 sacmodel_.reset (new SampleConsensusModelNormalPlane<PointT, pcl::Normal> (input_)); 00128 break; 00129 } 00130 case SACMODEL_NORMAL_PARALLEL_PLANE: 00131 { 00132 //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_NORMAL_PARALLEL_PLANE\n", getClassName ().c_str ()); 00133 sacmodel_.reset (new SampleConsensusModelNormalParallelPlane<PointT, pcl::Normal> (input_)); 00134 break; 00135 } 00136 case SACMODEL_PARALLEL_PLANE: 00137 { 00138 //PCL_DEBUG ("[pcl::%s::segment] Using a model of type: SACMODEL_PARALLEL_PLANE\n", getClassName ().c_str ()); 00139 sacmodel_.reset (new SampleConsensusModelParallelPlane<PointT> (input_)); 00140 break; 00141 } 00142 default: 00143 { 00144 PCL_ERROR ("[pcl::%s::initSACModel] No valid model given!\n", getClassName ().c_str ()); 00145 return (false); 00146 } 00147 } 00148 return (true); 00149 } 00150 00151 #define PCL_INSTANTIATE_ProjectInliers(T) template class PCL_EXPORTS pcl::ProjectInliers<T>; 00152 00153 #endif // PCL_FILTERS_IMPL_PROJECT_INLIERS_H_ 00154