model_types.h

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00001 /*
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00034  * $Id: model_types.h 2400 2011-09-06 23:48:36Z rusu $
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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_REGISTRATION,
00060     SACMODEL_PARALLEL_PLANE,
00061     SACMODEL_NORMAL_PARALLEL_PLANE,
00062     SACMODEL_STICK
00063   };
00064 }
00065 
00066 // Define the number of samples in SacModel needs
00067 typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel;
00068 const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMODEL_PLANE, 3),
00069                                                     SampleSizeModel (pcl::SACMODEL_LINE, 2),
00070                                                     SampleSizeModel (pcl::SACMODEL_CIRCLE2D, 3),
00071                                                     //SampleSizeModel (pcl::SACMODEL_CIRCLE3D, 3),
00072                                                     SampleSizeModel (pcl::SACMODEL_SPHERE, 4),
00073                                                     SampleSizeModel (pcl::SACMODEL_CYLINDER, 2),
00074                                                     //SampleSizeModel (pcl::SACMODEL_CONE, 2),
00075                                                     //SampleSizeModel (pcl::SACMODEL_TORUS, 2),
00076                                                     //SampleSizeModel (pcl::PARALLEL_LINE, 2),
00077                                                     SampleSizeModel (pcl::SACMODEL_PERPENDICULAR_PLANE, 3),
00078                                                     //SampleSizeModel (pcl::PARALLEL_LINES, 2),
00079                                                     SampleSizeModel (pcl::SACMODEL_NORMAL_PLANE, 3),
00080                                                     SampleSizeModel (pcl::SACMODEL_REGISTRATION, 3),
00081                                                     SampleSizeModel (pcl::SACMODEL_PARALLEL_PLANE, 3),
00082                                                     SampleSizeModel (pcl::SACMODEL_NORMAL_PARALLEL_PLANE, 3),
00083                                                     SampleSizeModel (pcl::SACMODEL_STICK, 2)};
00084 
00085 namespace pcl
00086 {
00087   const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs
00088       + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
00089 }
00090 
00091 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_