Point Cloud Library (PCL)
1.3.1
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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: project_inliers.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_PROJECT_INLIERS_H_ 00039 #define PCL_FILTERS_PROJECT_INLIERS_H_ 00040 00041 #include "pcl/point_types.h" 00042 #include "pcl/filters/filter.h" 00043 #include "pcl/ModelCoefficients.h" 00044 // Sample Consensus models 00045 #include "pcl/sample_consensus/model_types.h" 00046 #include "pcl/sample_consensus/sac_model.h" 00047 #include "pcl/sample_consensus/sac_model_circle.h" 00048 #include "pcl/sample_consensus/sac_model_cylinder.h" 00049 #include "pcl/sample_consensus/sac_model_line.h" 00050 #include "pcl/sample_consensus/sac_model_normal_plane.h" 00051 #include "pcl/sample_consensus/sac_model_parallel_plane.h" 00052 #include "pcl/sample_consensus/sac_model_normal_parallel_plane.h" 00053 #include "pcl/sample_consensus/sac_model_parallel_line.h" 00054 #include "pcl/sample_consensus/sac_model_perpendicular_plane.h" 00055 #include "pcl/sample_consensus/sac_model_plane.h" 00056 #include "pcl/sample_consensus/sac_model_sphere.h" 00057 00058 namespace pcl 00059 { 00061 00067 template<typename PointT> 00068 class ProjectInliers : public Filter<PointT> 00069 { 00070 using Filter<PointT>::input_; 00071 using Filter<PointT>::indices_; 00072 using Filter<PointT>::filter_name_; 00073 using Filter<PointT>::getClassName; 00074 00075 typedef typename Filter<PointT>::PointCloud PointCloud; 00076 typedef typename PointCloud::Ptr PointCloudPtr; 00077 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00078 00079 typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr; 00080 public: 00082 ProjectInliers () : copy_all_data_ (false) 00083 { 00084 filter_name_ = "ProjectInliers"; 00085 } 00086 00090 inline void 00091 setModelType (int model) 00092 { 00093 model_type_ = model; 00094 } 00095 00097 inline int 00098 getModelType () 00099 { 00100 return (model_type_); 00101 } 00102 00106 inline void 00107 setModelCoefficients (const ModelCoefficientsConstPtr &model) 00108 { 00109 model_ = model; 00110 } 00111 00113 inline ModelCoefficientsConstPtr 00114 getModelCoefficients () 00115 { 00116 return (model_); 00117 } 00118 00122 inline void 00123 setCopyAllData (bool val) 00124 { 00125 copy_all_data_ = val; 00126 } 00127 00129 inline bool 00130 getCopyAllData () 00131 { 00132 return (copy_all_data_); 00133 } 00134 protected: 00136 00139 void 00140 applyFilter (PointCloud &output); 00141 00142 private: 00144 ModelCoefficientsConstPtr model_; 00145 00147 SampleConsensusModelPtr sacmodel_; 00148 00150 int model_type_; 00151 00153 bool copy_all_data_; 00154 00158 virtual bool 00159 initSACModel (int model_type); 00160 }; 00161 00163 00169 template<> 00170 class PCL_EXPORTS ProjectInliers<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2> 00171 { 00172 using Filter<sensor_msgs::PointCloud2>::filter_name_; 00173 using Filter<sensor_msgs::PointCloud2>::getClassName; 00174 00175 typedef sensor_msgs::PointCloud2 PointCloud2; 00176 typedef PointCloud2::Ptr PointCloud2Ptr; 00177 typedef PointCloud2::ConstPtr PointCloud2ConstPtr; 00178 00179 typedef SampleConsensusModel<PointXYZ>::Ptr SampleConsensusModelPtr; 00180 00181 public: 00183 ProjectInliers () : copy_all_data_ (false), copy_all_fields_ (true) 00184 { 00185 filter_name_ = "ProjectInliers"; 00186 } 00187 00191 inline void 00192 setModelType (int model) 00193 { 00194 model_type_ = model; 00195 } 00196 00198 inline int 00199 getModelType () 00200 { 00201 return (model_type_); 00202 } 00203 00207 inline void 00208 setModelCoefficients (const ModelCoefficientsConstPtr &model) 00209 { 00210 model_ = model; 00211 } 00212 00214 inline ModelCoefficientsConstPtr 00215 getModelCoefficients () 00216 { 00217 return (model_); 00218 } 00219 00223 inline void 00224 setCopyAllFields (bool val) 00225 { 00226 copy_all_fields_ = val; 00227 } 00228 00230 inline bool 00231 getCopyAllFields () 00232 { 00233 return (copy_all_fields_); 00234 } 00235 00239 inline void 00240 setCopyAllData (bool val) 00241 { 00242 copy_all_data_ = val; 00243 } 00244 00246 inline bool 00247 getCopyAllData () 00248 { 00249 return (copy_all_data_); 00250 } 00251 protected: 00253 int model_type_; 00254 00256 bool copy_all_data_; 00257 00259 bool copy_all_fields_; 00260 00262 ModelCoefficientsConstPtr model_; 00263 00264 void 00265 applyFilter (PointCloud2 &output); 00266 00267 private: 00269 SampleConsensusModelPtr sacmodel_; 00270 00271 virtual bool 00272 initSACModel (int model_type); 00273 }; 00274 } 00275 00276 #endif //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_