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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_