sac_model_line.h

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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/common/eigen.h>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelLine : public SampleConsensusModel<PointT>
  {
    public:
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;
      using SampleConsensusModel<PointT>::error_sqr_dists_;

      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelLine> Ptr;

      SampleConsensusModelLine (const PointCloudConstPtr &cloud, bool random = false) 
        : SampleConsensusModel<PointT> (cloud, random) {};

      SampleConsensusModelLine (const PointCloudConstPtr &cloud, 
                                const std::vector<int> &indices,
                                bool random = false) 
        : SampleConsensusModel<PointT> (cloud, indices, random) {};
      
      virtual ~SampleConsensusModelLine () {}

      bool 
      computeModelCoefficients (const std::vector<int> &samples, 
                                Eigen::VectorXf &model_coefficients);

      void 
      getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
                           std::vector<double> &distances);

      void 
      selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
                            const double threshold, 
                            std::vector<int> &inliers);

      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients, 
                           const double threshold);

      void 
      optimizeModelCoefficients (const std::vector<int> &inliers, 
                                 const Eigen::VectorXf &model_coefficients, 
                                 Eigen::VectorXf &optimized_coefficients);

      void 
      projectPoints (const std::vector<int> &inliers, 
                     const Eigen::VectorXf &model_coefficients, 
                     PointCloud &projected_points, 
                     bool copy_data_fields = true);

      bool 
      doSamplesVerifyModel (const std::set<int> &indices, 
                            const Eigen::VectorXf &model_coefficients, 
                            const double threshold);

      inline pcl::SacModel 
      getModelType () const { return (SACMODEL_LINE); }

    protected:
      inline bool 
      isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        if (model_coefficients.size () != 6)
        {
          PCL_ERROR ("[pcl::SampleConsensusModelLine::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
          return (false);
        }

        return (true);
      }

      bool
      isSampleGood (const std::vector<int> &samples) const;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/sac_model_line.hpp>
#endif

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_