sac_model_stick.h
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00036  * $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
00042 
00043 #include <pcl/sample_consensus/sac_model.h>
00044 #include <pcl/sample_consensus/model_types.h>
00045 #include <pcl/common/eigen.h>
00046 
00047 namespace pcl
00048 {
00062   template <typename PointT>
00063   class SampleConsensusModelStick : public SampleConsensusModel<PointT>
00064   {
00065     using SampleConsensusModel<PointT>::input_;
00066     using SampleConsensusModel<PointT>::indices_;
00067     using SampleConsensusModel<PointT>::radius_min_;
00068     using SampleConsensusModel<PointT>::radius_max_;
00069 
00070     public:
00071       typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
00072       typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
00073       typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;
00074 
00075       typedef boost::shared_ptr<SampleConsensusModelStick> Ptr;
00076 
00080       SampleConsensusModelStick (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {};
00081 
00086       SampleConsensusModelStick (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {};
00087 
00094       bool 
00095       computeModelCoefficients (const std::vector<int> &samples, 
00096                                 Eigen::VectorXf &model_coefficients);
00097 
00102       void 
00103       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00104                            std::vector<double> &distances);
00105 
00111       void 
00112       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00113                             const double threshold, 
00114                             std::vector<int> &inliers);
00115 
00122       virtual int
00123       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00124                            const double threshold);
00125 
00132       void 
00133       optimizeModelCoefficients (const std::vector<int> &inliers, 
00134                                  const Eigen::VectorXf &model_coefficients, 
00135                                  Eigen::VectorXf &optimized_coefficients);
00136 
00143       void 
00144       projectPoints (const std::vector<int> &inliers, 
00145                      const Eigen::VectorXf &model_coefficients, 
00146                      PointCloud &projected_points, 
00147                      bool copy_data_fields = true);
00148 
00154       bool 
00155       doSamplesVerifyModel (const std::set<int> &indices, 
00156                             const Eigen::VectorXf &model_coefficients, 
00157                             const double threshold);
00158 
00160       inline pcl::SacModel 
00161       getModelType () const { return (SACMODEL_STICK); }
00162 
00163     protected:
00167       inline bool 
00168       isModelValid (const Eigen::VectorXf &model_coefficients)
00169       {
00170         if (model_coefficients.size () != 7)
00171         {
00172           PCL_ERROR ("[pcl::SampleConsensusModelStick::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
00173           return (false);
00174         }
00175 
00176         return (true);
00177       }
00178 
00183       bool
00184       isSampleGood (const std::vector<int> &samples) const;
00185   };
00186 }
00187 
00188 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:44