sac_model_parallel_lines.h

Go to the documentation of this file.

/*
 * Copyright (c) 2009, 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.
 *
 * $Id$
 *
 */

#ifndef _SAMPLE_CONSENSUS_SACMODELPARALLELLINES_H_
#define _SAMPLE_CONSENSUS_SACMODELPARALLELLINES_H_

#include <door_handle_detector/sample_consensus/sac_model.h>
#include <door_handle_detector/sample_consensus/model_types.h>

#define MAX_ITERATIONS_UNIQUE 10000

namespace sample_consensus
{
  class SACModelParallelLines : public SACModel
  {
    public:

      SACModelParallelLines (double min_line_sep_m, double max_line_sep_m)
      {
        min_line_sep_m_ = min_line_sep_m;
        max_line_sep_m_ = max_line_sep_m;
      }


      virtual ~SACModelParallelLines () { }

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


      bool testModelCoefficients (const std::vector<double> &model_coefficients) { return true; }

      virtual bool computeModelCoefficients (const std::vector<int> &samples);

      virtual void refitModel (const std::vector<int> &inliers, std::vector<double> &refit_coefficients);
      virtual void getDistancesToModel (const std::vector<double> &model_coefficients, std::vector<double> &distances);
      virtual void selectWithinDistance (const std::vector<double> &model_coefficients, double threshold, std::vector<int> &inliers);

      virtual void projectPoints (const std::vector<int> &inliers, const std::vector<double> &model_coefficients, sensor_msgs::PointCloud &projected_points);

      virtual void projectPointsInPlace (const std::vector<int> &inliers, const std::vector<double> &model_coefficients);
      virtual bool doSamplesVerifyModel (const std::set<int> &indices, double threshold);


      virtual int getModelType () { return (SACMODEL_PARALLEL_LINES); }

      void closestLine (const std::vector<int> &indices, const std::vector<double> &model_coefficients,
                        std::vector<int> *closest_line, std::vector<double> *closest_dist);
      void closestLine (const std::set<int> &indices, const std::vector<double> &model_coefficients,
                        std::vector<int> *closest_line, std::vector<double> *closest_dist);
      double pointToLineSquareDistance (const geometry_msgs::Point32 &line_point1, const geometry_msgs::Point32 &line_point2, const geometry_msgs::Point32 &point);

      double min_line_sep_m_;
      double max_line_sep_m_;
  };
}

#endif