sac_model_normal_sphere.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2012, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: sac_model_normal_sphere.h schrandt $
 *
 */

#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/sac_model_sphere.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/common/common.h>

namespace pcl
{
  template <typename PointT, typename PointNT>
  class SampleConsensusModelNormalSphere : public SampleConsensusModelSphere<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;
    using SampleConsensusModel<PointT>::radius_min_;
    using SampleConsensusModel<PointT>::radius_max_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;

    public:

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

      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelNormalSphere> Ptr;

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

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

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

      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients, 
                           const double threshold);

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

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

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    protected:
      bool 
      isModelValid (const Eigen::VectorXf &model_coefficients);

  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_