Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $ 00037 * 00038 */ 00039 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 { 00064 template <typename PointT> 00065 class SampleConsensusModelStick : public SampleConsensusModel<PointT> 00066 { 00067 using SampleConsensusModel<PointT>::input_; 00068 using SampleConsensusModel<PointT>::indices_; 00069 using SampleConsensusModel<PointT>::radius_min_; 00070 using SampleConsensusModel<PointT>::radius_max_; 00071 00072 public: 00073 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00074 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00075 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00076 00077 typedef boost::shared_ptr<SampleConsensusModelStick> Ptr; 00078 00082 SampleConsensusModelStick (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {}; 00083 00088 SampleConsensusModelStick (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {}; 00089 00095 void 00096 getSamples (int &iterations, std::vector<int> &samples); 00097 00104 bool 00105 computeModelCoefficients (const std::vector<int> &samples, 00106 Eigen::VectorXf &model_coefficients); 00107 00112 void 00113 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00114 std::vector<double> &distances); 00115 00121 void 00122 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00123 const double threshold, 00124 std::vector<int> &inliers); 00125 00132 virtual int 00133 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00134 const double threshold); 00135 00142 void 00143 optimizeModelCoefficients (const std::vector<int> &inliers, 00144 const Eigen::VectorXf &model_coefficients, 00145 Eigen::VectorXf &optimized_coefficients); 00146 00153 void 00154 projectPoints (const std::vector<int> &inliers, 00155 const Eigen::VectorXf &model_coefficients, 00156 PointCloud &projected_points, 00157 bool copy_data_fields = true); 00158 00164 bool 00165 doSamplesVerifyModel (const std::set<int> &indices, 00166 const Eigen::VectorXf &model_coefficients, 00167 const double threshold); 00168 00170 inline pcl::SacModel 00171 getModelType () const { return (SACMODEL_STICK); } 00172 00173 protected: 00177 inline bool 00178 isModelValid (const Eigen::VectorXf &model_coefficients) 00179 { 00180 if (model_coefficients.size () != 7) 00181 { 00182 PCL_ERROR ("[pcl::SampleConsensusModelStick::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ()); 00183 return (false); 00184 } 00185 00186 return (true); 00187 } 00188 00193 bool 00194 isSampleGood (const std::vector<int> &samples) const; 00195 }; 00196 } 00197 00198 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_