door_handle_detector: sac_model_cylinder.h Source File

00001 /*
00002  * Copyright (c) 2008 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
00003  *
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  *
00027  * $Id$
00028  *
00029  */
00030 
00033 #ifndef _SAMPLE_CONSENSUS_SACMODELCYLINDER_H_
00034 #define _SAMPLE_CONSENSUS_SACMODELCYLINDER_H_
00035 
00036 #include <door_handle_detector/sample_consensus/sac_model.h>
00037 #include <door_handle_detector/sample_consensus/model_types.h>
00038 
00040 #define MAX_ITERATIONS_COLLINEAR 1000
00041 
00042 namespace sample_consensus
00043 {
00046   class SACModelCylinder : public SACModel
00047   {
00048     public:
00050 
00051       SACModelCylinder () { nx_idx_ = ny_idx_ = nz_idx_ = -1; }
00052 
00054 
00055       virtual ~SACModelCylinder () { }
00056 
00057       virtual void getSamples (int &iterations, std::vector<int> &samples);
00058 
00060 
00064       bool testModelCoefficients (const std::vector<double> &model_coefficients) { return true; }
00065 
00066       virtual bool computeModelCoefficients (const std::vector<int> &samples);
00067 
00068       virtual void refitModel (const std::vector<int> &inliers, std::vector<double> &refit_coefficients);
00069       virtual void getDistancesToModel (const std::vector<double> &model_coefficients, std::vector<double> &distances);
00070       virtual void selectWithinDistance (const std::vector<double> &model_coefficients, double threshold, std::vector<int> &inliers);
00071 
00072       virtual void projectPoints (const std::vector<int> &inliers, const std::vector<double> &model_coefficients, sensor_msgs::PointCloud &projected_points);
00073 
00074       virtual void projectPointsInPlace (const std::vector<int> &inliers, const std::vector<double> &model_coefficients);
00075       virtual bool doSamplesVerifyModel (const std::set<int> &indices, double threshold);
00076 
00077       static int functionToOptimize (void *p, int m, int n, const double *x, double *fvec, int iflag);
00078 
00080 
00081       virtual int getModelType () { return (SACMODEL_CYLINDER); }
00082 
00083     private:
00085       int nx_idx_, ny_idx_, nz_idx_;
00087       const std::vector<int> *tmp_inliers_;
00088   };
00089 }
00090 
00091 #endif