Point Cloud Library (PCL)  1.7.0
model_types.h
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
43 
44 #include <map>
45 
46 namespace pcl
47 {
48  enum SacModel
49  {
68  };
69 }
70 
71 // Define the number of samples in SacModel needs
72 typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel;
73 const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMODEL_PLANE, 3),
74  SampleSizeModel (pcl::SACMODEL_LINE, 2),
75  SampleSizeModel (pcl::SACMODEL_CIRCLE2D, 3),
76  SampleSizeModel (pcl::SACMODEL_CIRCLE3D, 3),
77  SampleSizeModel (pcl::SACMODEL_SPHERE, 4),
78  SampleSizeModel (pcl::SACMODEL_CYLINDER, 2),
79  SampleSizeModel (pcl::SACMODEL_CONE, 3),
80  //SampleSizeModel (pcl::SACMODEL_TORUS, 2),
81  SampleSizeModel (pcl::SACMODEL_PARALLEL_LINE, 2),
82  SampleSizeModel (pcl::SACMODEL_PERPENDICULAR_PLANE, 3),
83  //SampleSizeModel (pcl::PARALLEL_LINES, 2),
84  SampleSizeModel (pcl::SACMODEL_NORMAL_PLANE, 3),
85  SampleSizeModel (pcl::SACMODEL_NORMAL_SPHERE, 4),
86  SampleSizeModel (pcl::SACMODEL_REGISTRATION, 3),
87  SampleSizeModel (pcl::SACMODEL_REGISTRATION_2D, 3),
88  SampleSizeModel (pcl::SACMODEL_PARALLEL_PLANE, 3),
89  SampleSizeModel (pcl::SACMODEL_NORMAL_PARALLEL_PLANE, 3),
90  SampleSizeModel (pcl::SACMODEL_STICK, 2)};
91 
92 namespace pcl
93 {
94  const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs
95  + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
96 }
97 
98 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_