Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: sac_model_line.h 2404 2011-09-07 00:10:07Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_ 00042 00043 #include <pcl/sample_consensus/sac_model.h> 00044 #include <pcl/sample_consensus/model_types.h> 00045 #include <pcl/common/eigen.h> 00046 00047 namespace pcl 00048 { 00062 template <typename PointT> 00063 class SampleConsensusModelLine : public SampleConsensusModel<PointT> 00064 { 00065 using SampleConsensusModel<PointT>::input_; 00066 using SampleConsensusModel<PointT>::indices_; 00067 00068 public: 00069 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00070 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00071 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00072 00073 typedef boost::shared_ptr<SampleConsensusModelLine> Ptr; 00074 00078 SampleConsensusModelLine (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {}; 00079 00084 SampleConsensusModelLine (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {}; 00085 00091 void 00092 getSamples (int &iterations, std::vector<int> &samples); 00093 00100 bool 00101 computeModelCoefficients (const std::vector<int> &samples, 00102 Eigen::VectorXf &model_coefficients); 00103 00108 void 00109 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00110 std::vector<double> &distances); 00111 00117 void 00118 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00119 const double threshold, 00120 std::vector<int> &inliers); 00121 00128 virtual int 00129 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00130 const double threshold); 00131 00138 void 00139 optimizeModelCoefficients (const std::vector<int> &inliers, 00140 const Eigen::VectorXf &model_coefficients, 00141 Eigen::VectorXf &optimized_coefficients); 00142 00149 void 00150 projectPoints (const std::vector<int> &inliers, 00151 const Eigen::VectorXf &model_coefficients, 00152 PointCloud &projected_points, 00153 bool copy_data_fields = true); 00154 00160 bool 00161 doSamplesVerifyModel (const std::set<int> &indices, 00162 const Eigen::VectorXf &model_coefficients, 00163 const double threshold); 00164 00166 inline pcl::SacModel 00167 getModelType () const { return (SACMODEL_LINE); } 00168 00169 protected: 00173 inline bool 00174 isModelValid (const Eigen::VectorXf &model_coefficients) 00175 { 00176 if (model_coefficients.size () != 6) 00177 { 00178 PCL_ERROR ("[pcl::SampleConsensusModelLine::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ()); 00179 return (false); 00180 } 00181 00182 return (true); 00183 } 00184 00189 bool 00190 isSampleGood (const std::vector<int> &samples) const; 00191 }; 00192 } 00193 00194 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_