sac_model_line.h

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00001 /*
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00036  * $Id: sac_model_line.h 2404 2011-09-07 00:10:07Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_LINE_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 {
00062   template <typename PointT>
00063   class SampleConsensusModelLine : public SampleConsensusModel<PointT>
00064   {
00065     using SampleConsensusModel<PointT>::input_;
00066     using SampleConsensusModel<PointT>::indices_;
00067 
00068     public:
00069       typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
00070       typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
00071       typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;
00072 
00073       typedef boost::shared_ptr<SampleConsensusModelLine> Ptr;
00074 
00078       SampleConsensusModelLine (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {};
00079 
00084       SampleConsensusModelLine (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {};
00085 
00091       void 
00092       getSamples (int &iterations, std::vector<int> &samples);
00093 
00100       bool 
00101       computeModelCoefficients (const std::vector<int> &samples, 
00102                                 Eigen::VectorXf &model_coefficients);
00103 
00108       void 
00109       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00110                            std::vector<double> &distances);
00111 
00117       void 
00118       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00119                             const double threshold, 
00120                             std::vector<int> &inliers);
00121 
00128       virtual int
00129       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00130                            const double threshold);
00131 
00138       void 
00139       optimizeModelCoefficients (const std::vector<int> &inliers, 
00140                                  const Eigen::VectorXf &model_coefficients, 
00141                                  Eigen::VectorXf &optimized_coefficients);
00142 
00149       void 
00150       projectPoints (const std::vector<int> &inliers, 
00151                      const Eigen::VectorXf &model_coefficients, 
00152                      PointCloud &projected_points, 
00153                      bool copy_data_fields = true);
00154 
00160       bool 
00161       doSamplesVerifyModel (const std::set<int> &indices, 
00162                             const Eigen::VectorXf &model_coefficients, 
00163                             const double threshold);
00164 
00166       inline pcl::SacModel 
00167       getModelType () const { return (SACMODEL_LINE); }
00168 
00169     protected:
00173       inline bool 
00174       isModelValid (const Eigen::VectorXf &model_coefficients)
00175       {
00176         if (model_coefficients.size () != 6)
00177         {
00178           PCL_ERROR ("[pcl::SampleConsensusModelLine::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ());
00179           return (false);
00180         }
00181 
00182         return (true);
00183       }
00184 
00189       bool
00190       isSampleGood (const std::vector<int> &samples) const;
00191   };
00192 }
00193 
00194 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_LINE_H_