project_inliers.h

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 * $Id: project_inliers.h 34544 2010-12-06 11:22:55Z rusu $
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#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
#define PCL_FILTERS_PROJECT_INLIERS_H_

#include "pcl/point_types.h"
#include "pcl/filters/filter.h"
#include "pcl/ModelCoefficients.h"
// Sample Consensus models
#include "pcl/sample_consensus/model_types.h"
#include "pcl/sample_consensus/sac_model.h"
#include "pcl/sample_consensus/sac_model_circle.h"
#include "pcl/sample_consensus/sac_model_cylinder.h"
#include "pcl/sample_consensus/sac_model_line.h"
#include "pcl/sample_consensus/sac_model_normal_plane.h"
#include "pcl/sample_consensus/sac_model_parallel_plane.h"
#include "pcl/sample_consensus/sac_model_normal_parallel_plane.h"
#include "pcl/sample_consensus/sac_model_parallel_line.h"
#include "pcl/sample_consensus/sac_model_perpendicular_plane.h"
#include "pcl/sample_consensus/sac_model_plane.h"
#include "pcl/sample_consensus/sac_model_sphere.h"

namespace pcl
{

  template <typename PointT>
  class ProjectInliers: public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::indices_;
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
    public:

      ProjectInliers () : copy_all_data_ (false)
      {
        filter_name_ = "ProjectInliers";
      };


      inline void setModelType (int model) { model_type_ = model; }


      inline int getModelType () { return (model_type_); }


      inline void setModelCoefficients (const ModelCoefficientsConstPtr &model) { model_ = model; }


      inline ModelCoefficientsConstPtr getModelCoefficients () { return (model_); }

      inline void setCopyAllData (bool val) { copy_all_data_ = val; }
      inline bool getCopyAllData ()         { return (copy_all_data_); }
    protected:

      void applyFilter (PointCloud &output);

    private:
      ModelCoefficientsConstPtr model_;

      SampleConsensusModelPtr sacmodel_;

      int model_type_;

      bool copy_all_data_;


      virtual bool initSACModel (int model_type);
  };


  template <>
  class ProjectInliers<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    using Filter<sensor_msgs::PointCloud2>::filter_name_;
    using Filter<sensor_msgs::PointCloud2>::getClassName;

    typedef sensor_msgs::PointCloud2 PointCloud2;
    typedef PointCloud2::Ptr PointCloud2Ptr;
    typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

    typedef SampleConsensusModel<PointXYZ>::Ptr SampleConsensusModelPtr;

    public:

      ProjectInliers () : copy_all_data_ (false), copy_all_fields_ (true)
      {
        filter_name_ = "ProjectInliers";
      };


      inline void setModelType (int model) { model_type_ = model; }


      inline int getModelType () { return (model_type_); }


      inline void setModelCoefficients (const ModelCoefficientsConstPtr &model) { model_ = model; }


      inline ModelCoefficientsConstPtr getModelCoefficients () { return (model_); }

      inline void setCopyAllFields (bool val) { copy_all_fields_ = val; }
      inline bool getCopyAllFields ()         { return (copy_all_fields_); }
      
      inline void setCopyAllData (bool val) { copy_all_data_ = val; }
      inline bool getCopyAllData ()         { return (copy_all_data_); }
    protected:
      int model_type_;

      bool copy_all_data_;

      bool copy_all_fields_;

      ModelCoefficientsConstPtr model_;

      void applyFilter (PointCloud2 &output);

    private:
      SampleConsensusModelPtr sacmodel_;

      virtual bool initSACModel (int model_type);

  };
}

#endif  //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013