00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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: model_types.h 36021 2011-02-17 03:44:01Z vrabaud $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_ 00039 #define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_ 00040 00041 #include <map> 00042 00043 namespace pcl 00044 { 00045 enum SacModel 00046 { 00047 SACMODEL_PLANE, 00048 SACMODEL_LINE, 00049 SACMODEL_CIRCLE2D, 00050 SACMODEL_CIRCLE3D, 00051 SACMODEL_SPHERE, 00052 SACMODEL_CYLINDER, 00053 SACMODEL_CONE, 00054 SACMODEL_TORUS, 00055 SACMODEL_PARALLEL_LINE, 00056 SACMODEL_PERPENDICULAR_PLANE, 00057 SACMODEL_PARALLEL_LINES, 00058 SACMODEL_NORMAL_PLANE, 00059 SACMODEL_REGISTRATION, 00060 SACMODEL_PARALLEL_PLANE, 00061 SACMODEL_NORMAL_PARALLEL_PLANE 00062 }; 00063 } 00064 00065 // Define the number of samples in SacModel needs 00066 typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel; 00067 const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel(pcl::SACMODEL_PLANE, 3), 00068 SampleSizeModel(pcl::SACMODEL_LINE,2), 00069 SampleSizeModel(pcl::SACMODEL_CIRCLE2D, 3), 00070 SampleSizeModel(pcl::SACMODEL_SPHERE, 4), 00071 SampleSizeModel(pcl::SACMODEL_CYLINDER, 2), 00072 SampleSizeModel(pcl::SACMODEL_REGISTRATION, 3)}; 00073 00074 namespace pcl 00075 { 00076 const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE(sample_size_pairs, sample_size_pairs 00077 + sizeof(sample_size_pairs)/sizeof(SampleSizeModel)); 00078 } 00079 00080 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_