model_types.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2009, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  * $Id: model_types.h 4777 2012-02-27 00:51:27Z rusu $
00035  *
00036  */
00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
00039 #define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
00040 
00041 #include <map>
00042 
00043 namespace pcl
00044 {
00045   enum SacModel
00046   {
00047     SACMODEL_PLANE,
00048     SACMODEL_LINE,
00049     SACMODEL_CIRCLE2D,
00050     SACMODEL_CIRCLE3D,
00051     SACMODEL_SPHERE,
00052     SACMODEL_CYLINDER,
00053     SACMODEL_CONE,
00054     SACMODEL_TORUS,
00055     SACMODEL_PARALLEL_LINE,
00056     SACMODEL_PERPENDICULAR_PLANE,
00057     SACMODEL_PARALLEL_LINES,
00058     SACMODEL_NORMAL_PLANE,
00059     SACMODEL_NORMAL_SPHERE,
00060     SACMODEL_REGISTRATION,
00061     SACMODEL_PARALLEL_PLANE,
00062     SACMODEL_NORMAL_PARALLEL_PLANE,
00063     SACMODEL_STICK
00064   };
00065 }
00066 
00067 // Define the number of samples in SacModel needs
00068 typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel;
00069 const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMODEL_PLANE, 3),
00070                                                     SampleSizeModel (pcl::SACMODEL_LINE, 2),
00071                                                     SampleSizeModel (pcl::SACMODEL_CIRCLE2D, 3),
00072                                                     //SampleSizeModel (pcl::SACMODEL_CIRCLE3D, 3),
00073                                                     SampleSizeModel (pcl::SACMODEL_SPHERE, 4),
00074                                                     SampleSizeModel (pcl::SACMODEL_CYLINDER, 2),
00075                                                     SampleSizeModel (pcl::SACMODEL_CONE, 3),
00076                                                     //SampleSizeModel (pcl::SACMODEL_TORUS, 2),
00077                                                     SampleSizeModel (pcl::SACMODEL_PARALLEL_LINE, 2),
00078                                                     SampleSizeModel (pcl::SACMODEL_PERPENDICULAR_PLANE, 3),
00079                                                     //SampleSizeModel (pcl::PARALLEL_LINES, 2),
00080                                                     SampleSizeModel (pcl::SACMODEL_NORMAL_PLANE, 3),
00081                                                     SampleSizeModel (pcl::SACMODEL_NORMAL_SPHERE, 4),
00082                                                     SampleSizeModel (pcl::SACMODEL_REGISTRATION, 3),
00083                                                     SampleSizeModel (pcl::SACMODEL_PARALLEL_PLANE, 3),
00084                                                     SampleSizeModel (pcl::SACMODEL_NORMAL_PARALLEL_PLANE, 3),
00085                                                     SampleSizeModel (pcl::SACMODEL_STICK, 2)};
00086 
00087 namespace pcl
00088 {
00089   const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs
00090       + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
00091 }
00092 
00093 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:43