sac_model_sphere.h

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/*
 * Copyright (c) 2008 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
 *
 * 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.
 *
 * 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
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 * $Id$
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 */

#ifndef _SAMPLE_CONSENSUS_SACMODELSPHERE_H_
#define _SAMPLE_CONSENSUS_SACMODELSPHERE_H_

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

#define MAX_ITERATIONS_COLLINEAR 1000

namespace sample_consensus
{
  class SACModelSphere : public SACModel
  {
    public:

      SACModelSphere () { }


      virtual ~SACModelSphere () { }

      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);

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


      virtual int getModelType () { return (SACMODEL_SPHERE); }
      
    private:
      const std::vector<int> *tmp_inliers_;
  };
}

#endif