sac_model_sphere.h

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 * $Id: sac_model_sphere.h 36021 2011-02-17 03:44:01Z vrabaud $
 *
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <cminpack.h>
#include <boost/thread/mutex.hpp>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelSphere : public SampleConsensusModel<PointT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;
    using SampleConsensusModel<PointT>::radius_min_;
    using SampleConsensusModel<PointT>::radius_max_;

    public:
      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelSphere> Ptr;

      SampleConsensusModelSphere (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) { }

      SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) { }

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

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

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

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

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

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

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

      inline pcl::SacModel getModelType () const { return (SACMODEL_SPHERE); }

    protected:
      inline bool 
      isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        // Needs a valid model coefficients
        if (model_coefficients.size () != 4)
        {
          ROS_ERROR ("[pcl::SampleConsensusModelSphere::isModelValid] Invalid number of model coefficients given (%zu)!", model_coefficients.size ());
          return (false);
        }

        if (radius_min_ != -DBL_MAX && model_coefficients[3] < radius_min_)
          return (false);
        if (radius_max_ != DBL_MAX && model_coefficients[3] > radius_max_)
          return (false);

        return (true);
      }

    private:
      boost::mutex tmp_mutex_;

      const std::vector<int> *tmp_inliers_;

      const static int MAX_ITERATIONS_COLLINEAR = 1000;


      static int functionToOptimize (void *p, int m, int n, const double *x, double *fvec, int iflag);
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_SPHERE_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