sac_model_normal_sphere.h

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 * $Id: sac_model_normal_sphere.h schrandt $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_

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

namespace pcl
{
  template <typename PointT, typename PointNT>
  class SampleConsensusModelNormalSphere : public SampleConsensusModelSphere<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    public:
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;
      using SampleConsensusModel<PointT>::radius_min_;
      using SampleConsensusModel<PointT>::radius_max_;
      using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
      using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;
      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 typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelNormalSphere> Ptr;

      SampleConsensusModelNormalSphere (const PointCloudConstPtr &cloud, 
                                        bool random = false) 
        : SampleConsensusModelSphere<PointT> (cloud, random)
        , SampleConsensusModelFromNormals<PointT, PointNT> ()
      {
      }

      SampleConsensusModelNormalSphere (const PointCloudConstPtr &cloud, 
                                        const std::vector<int> &indices,
                                        bool random = false) 
        : SampleConsensusModelSphere<PointT> (cloud, indices, random)
        , SampleConsensusModelFromNormals<PointT, PointNT> ()
      {
      }
      
      virtual ~SampleConsensusModelNormalSphere () {}

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

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

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    protected:
      bool 
      isModelValid (const Eigen::VectorXf &model_coefficients);

  };
}

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

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_