sac_model.h

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 * $Id: sac_model.h 36095 2011-02-19 22:24:01Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_H_

#include <cfloat>
#include <limits.h>
#include <set>

#include "pcl/pcl_base.h"
#include "pcl/point_types.h"
#include "pcl/io/io.h"

#include "model_types.h"

namespace pcl
{
  // Forward declaration
  template<class T> class ProgressiveSampleConsensus;

  template <typename PointT>
  class SampleConsensusModel
  {
    public:
      typedef typename pcl::PointCloud<PointT> PointCloud;
      typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
      typedef typename pcl::PointCloud<PointT>::Ptr PointCloudPtr;

      typedef boost::shared_ptr<SampleConsensusModel> Ptr;
      typedef boost::shared_ptr<const SampleConsensusModel> ConstPtr;

    private:
      SampleConsensusModel () : radius_min_ (-DBL_MAX), radius_max_ (DBL_MAX) {};

    public:
      SampleConsensusModel (const PointCloudConstPtr &cloud) : 
        radius_min_ (-DBL_MAX), radius_max_ (DBL_MAX)
      {
        // Sets the input cloud and creates a vector of "fake" indices
        setInputCloud (cloud);
      }

      SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector<int> &indices) :
                            input_ (cloud),
                            indices_ (boost::make_shared <std::vector<int> > (indices)),
                            radius_min_ (-DBL_MAX), radius_max_ (DBL_MAX) 
    
      {
        if (indices_->size () > input_->points.size ())
        {
          ROS_ERROR ("[pcl::SampleConsensusModel] Invalid index vector given with size %zu while the input PointCloud has size %zu!", indices_->size (), input_->points.size ());
          indices_->clear ();
        }
      };

      virtual ~SampleConsensusModel () {};

      virtual void 
      getSamples (int &iterations, std::vector<int> &samples) = 0;

      virtual bool 
      computeModelCoefficients (const std::vector<int> &samples, 
                                Eigen::VectorXf &model_coefficients) = 0;

      virtual void 
      optimizeModelCoefficients (const std::vector<int> &inliers, 
                                 const Eigen::VectorXf &model_coefficients,
                                 Eigen::VectorXf &optimized_coefficients) = 0;

      virtual void 
      getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
                           std::vector<double> &distances) = 0;

      virtual void 
      selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
                            double threshold,
                            std::vector<int> &inliers) = 0;

      virtual void 
      projectPoints (const std::vector<int> &inliers, 
                     const Eigen::VectorXf &model_coefficients,
                     PointCloud &projected_points, 
                     bool copy_data_fields = true) = 0;

      virtual bool 
      doSamplesVerifyModel (const std::set<int> &indices, 
                            const Eigen::VectorXf &model_coefficients, 
                            double threshold) = 0;

      inline virtual void
      setInputCloud (const PointCloudConstPtr &cloud)
      {
        input_ = cloud;
        if (!indices_)
          indices_ = boost::make_shared <std::vector<int> > ();
        if (indices_->empty ())
        {
          // Prepare a set of indices to be used (entire cloud)
          indices_->resize (cloud->points.size ());
          for (size_t i = 0; i < cloud->points.size (); ++i) 
            (*indices_)[i] = i;
        }
      }

      inline PointCloudConstPtr 
      getInputCloud () const { return (input_); }

      inline void 
      setIndices (const IndicesPtr &indices) { indices_ = indices; }

      inline void 
      setIndices (std::vector<int> &indices) 
      { 
        indices_ = boost::make_shared <std::vector<int> > (indices); 
      }

      inline IndicesPtr 
      getIndices () const { return (indices_); }

      virtual SacModel 
      getModelType () const = 0;

      inline unsigned int 
      getSampleSize() const { return SAC_SAMPLE_SIZE.at (getModelType ()); }

      inline void
      setRadiusLimits (const double &min_radius, const double &max_radius)
      {
        radius_min_ = min_radius;
        radius_max_ = max_radius;
      }

      inline void
      getRadiusLimits (double &min_radius, double &max_radius)
      {
        min_radius = radius_min_;
        max_radius = radius_max_;
      }

      friend class ProgressiveSampleConsensus<PointT>;

    protected:
      virtual inline bool
      isModelValid (const Eigen::VectorXf &model_coefficients) = 0;

      PointCloudConstPtr input_;

      IndicesPtr indices_;

      double radius_min_, radius_max_;
  };

  template <typename PointT, typename PointNT>
  class SampleConsensusModelFromNormals
  {
    public:
      typedef typename pcl::PointCloud<PointNT>::ConstPtr PointCloudNConstPtr;
      typedef typename pcl::PointCloud<PointNT>::Ptr PointCloudNPtr;

      typedef boost::shared_ptr<SampleConsensusModelFromNormals> Ptr;
      typedef boost::shared_ptr<const SampleConsensusModelFromNormals> ConstPtr;

      SampleConsensusModelFromNormals () : normal_distance_weight_ (0.0) {};

      inline void 
      setNormalDistanceWeight (double w) { normal_distance_weight_ = w; }

      inline double 
      getNormalDistanceWeight () { return (normal_distance_weight_); }

      inline void 
      setInputNormals (const PointCloudNConstPtr &normals) { normals_ = normals; }

      inline PointCloudNConstPtr 
      getInputNormals () { return (normals_); }

    protected:
      double normal_distance_weight_;

      PointCloudNConstPtr normals_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_H_

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