Point Cloud Library (PCL)  1.3.1
sac_model_stick.h
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00036  * $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_STICK_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 {
00064   template <typename PointT>
00065   class SampleConsensusModelStick : public SampleConsensusModel<PointT>
00066   {
00067     using SampleConsensusModel<PointT>::input_;
00068     using SampleConsensusModel<PointT>::indices_;
00069     using SampleConsensusModel<PointT>::radius_min_;
00070     using SampleConsensusModel<PointT>::radius_max_;
00071 
00072     public:
00073       typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
00074       typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
00075       typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;
00076 
00077       typedef boost::shared_ptr<SampleConsensusModelStick> Ptr;
00078 
00082       SampleConsensusModelStick (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {};
00083 
00088       SampleConsensusModelStick (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {};
00089 
00095       void 
00096       getSamples (int &iterations, std::vector<int> &samples);
00097 
00104       bool 
00105       computeModelCoefficients (const std::vector<int> &samples, 
00106                                 Eigen::VectorXf &model_coefficients);
00107 
00112       void 
00113       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00114                            std::vector<double> &distances);
00115 
00121       void 
00122       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00123                             const double threshold, 
00124                             std::vector<int> &inliers);
00125 
00132       virtual int
00133       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00134                            const double threshold);
00135 
00142       void 
00143       optimizeModelCoefficients (const std::vector<int> &inliers, 
00144                                  const Eigen::VectorXf &model_coefficients, 
00145                                  Eigen::VectorXf &optimized_coefficients);
00146 
00153       void 
00154       projectPoints (const std::vector<int> &inliers, 
00155                      const Eigen::VectorXf &model_coefficients, 
00156                      PointCloud &projected_points, 
00157                      bool copy_data_fields = true);
00158 
00164       bool 
00165       doSamplesVerifyModel (const std::set<int> &indices, 
00166                             const Eigen::VectorXf &model_coefficients, 
00167                             const double threshold);
00168 
00170       inline pcl::SacModel 
00171       getModelType () const { return (SACMODEL_STICK); }
00172 
00173     protected:
00177       inline bool 
00178       isModelValid (const Eigen::VectorXf &model_coefficients)
00179       {
00180         if (model_coefficients.size () != 7)
00181         {
00182           PCL_ERROR ("[pcl::SampleConsensusModelStick::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ());
00183           return (false);
00184         }
00185 
00186         return (true);
00187       }
00188 
00193       bool
00194       isSampleGood (const std::vector<int> &samples) const;
00195   };
00196 }
00197 
00198 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
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