sac_model.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_SACMODEL_H_
#define _SAMPLE_CONSENSUS_SACMODEL_H_

#include <geometry_msgs/Point32.h>     // ROS float point type
#include <sensor_msgs/PointCloud.h>  // ROS point cloud type

#include <set>

namespace sample_consensus
{
  class SACModel
  {
    public:

      SACModel () : cloud_(NULL) { }
      SACModel (sensor_msgs::PointCloud cloud) : cloud_(&cloud) { }


      virtual ~SACModel () { }


      virtual void getSamples (int &iterations, std::vector<int> &samples) = 0;


      virtual bool testModelCoefficients (const std::vector<double> &model_coefficients) = 0;


      virtual bool computeModelCoefficients (const std::vector<int> &samples) = 0;


      virtual void refitModel (const std::vector<int> &inliers, std::vector<double> &refit_coefficients) = 0;


      virtual void getDistancesToModel (const std::vector<double> &model_coefficients, std::vector<double> &distances) = 0;


      virtual void selectWithinDistance (const std::vector<double> &model_coefficients, double threshold, std::vector<int> &inliers) = 0;


      virtual void projectPoints (const std::vector<int> &inliers, const std::vector<double> &model_coefficients, sensor_msgs::PointCloud &projected_points) = 0;


      virtual void projectPointsInPlace (const std::vector<int> &inliers, const std::vector<double> &model_coefficients) = 0;


      virtual bool doSamplesVerifyModel (const std::set<int> &indices, double threshold) = 0;



      inline void
        setDataSet (sensor_msgs::PointCloud *cloud)
      {
        this->cloud_ = cloud;
        indices_.clear ();
        indices_.resize (cloud_->points.size ());
        for (unsigned int i = 0; i < cloud_->points.size (); i++)
          indices_[i] = i;
      }

      inline void
        setDataSet (sensor_msgs::PointCloud *cloud, std::vector<int> indices)
      {
        this->cloud_   = cloud;
        this->indices_ = indices;
      }

      void setDataIndices (std::vector<int> indices) { this->indices_ = indices; }


      virtual int removeInliers ();


      virtual int getModelType () = 0;


      void setBestInliers (const std::vector<int> &best_inliers) { this->best_inliers_ = best_inliers; }


      std::vector<int> getBestInliers () { return (this->best_inliers_); }


      void setBestModel (std::vector<int> best_model) { this->best_model_ = best_model; }


      std::vector<int> getBestModel   () { return (this->best_model_); }


      std::vector<double> getModelCoefficients () { return (this->model_coefficients_); }

      sensor_msgs::PointCloud* getCloud () { return (this->cloud_); }

      std::vector<int>* getIndices () { return (&this->indices_); }

    protected:

      sensor_msgs::PointCloud *cloud_;

      std::vector<int> indices_;

      std::vector<double> model_coefficients_;

      std::vector<int> best_model_;
      std::vector<int> best_inliers_;
  };
}

#endif