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00041 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
00042 #define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
00043
00044 #include <map>
00045
00046 namespace pcl
00047 {
00048 enum SacModel
00049 {
00050 SACMODEL_PLANE,
00051 SACMODEL_LINE,
00052 SACMODEL_CIRCLE2D,
00053 SACMODEL_CIRCLE3D,
00054 SACMODEL_SPHERE,
00055 SACMODEL_CYLINDER,
00056 SACMODEL_CONE,
00057 SACMODEL_TORUS,
00058 SACMODEL_PARALLEL_LINE,
00059 SACMODEL_PERPENDICULAR_PLANE,
00060 SACMODEL_PARALLEL_LINES,
00061 SACMODEL_NORMAL_PLANE,
00062 SACMODEL_NORMAL_SPHERE,
00063 SACMODEL_REGISTRATION,
00064 SACMODEL_REGISTRATION_2D,
00065 SACMODEL_PARALLEL_PLANE,
00066 SACMODEL_NORMAL_PARALLEL_PLANE,
00067 SACMODEL_STICK
00068 };
00069 }
00070
00071
00072 typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel;
00073 const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMODEL_PLANE, 3),
00074 SampleSizeModel (pcl::SACMODEL_LINE, 2),
00075 SampleSizeModel (pcl::SACMODEL_CIRCLE2D, 3),
00076 SampleSizeModel (pcl::SACMODEL_CIRCLE3D, 3),
00077 SampleSizeModel (pcl::SACMODEL_SPHERE, 4),
00078 SampleSizeModel (pcl::SACMODEL_CYLINDER, 2),
00079 SampleSizeModel (pcl::SACMODEL_CONE, 3),
00080
00081 SampleSizeModel (pcl::SACMODEL_PARALLEL_LINE, 2),
00082 SampleSizeModel (pcl::SACMODEL_PERPENDICULAR_PLANE, 3),
00083
00084 SampleSizeModel (pcl::SACMODEL_NORMAL_PLANE, 3),
00085 SampleSizeModel (pcl::SACMODEL_NORMAL_SPHERE, 4),
00086 SampleSizeModel (pcl::SACMODEL_REGISTRATION, 3),
00087 SampleSizeModel (pcl::SACMODEL_REGISTRATION_2D, 3),
00088 SampleSizeModel (pcl::SACMODEL_PARALLEL_PLANE, 3),
00089 SampleSizeModel (pcl::SACMODEL_NORMAL_PARALLEL_PLANE, 3),
00090 SampleSizeModel (pcl::SACMODEL_STICK, 2)};
00091
00092 namespace pcl
00093 {
00094 const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs
00095 + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
00096 }
00097
00098 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_