sac_model_stick.h

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 * $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/common/eigen.h>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelStick : public SampleConsensusModel<PointT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;
    using SampleConsensusModel<PointT>::radius_min_;
    using SampleConsensusModel<PointT>::radius_max_;

    public:
      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelStick> Ptr;

      SampleConsensusModelStick (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {};

      SampleConsensusModelStick (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {};

      void 
      getSamples (int &iterations, std::vector<int> &samples);

      bool 
      computeModelCoefficients (const std::vector<int> &samples, 
                                Eigen::VectorXf &model_coefficients);

      void 
      getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
                           std::vector<double> &distances);

      void 
      selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
                            const double threshold, 
                            std::vector<int> &inliers);

      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients, 
                           const double threshold);

      void 
      optimizeModelCoefficients (const std::vector<int> &inliers, 
                                 const Eigen::VectorXf &model_coefficients, 
                                 Eigen::VectorXf &optimized_coefficients);

      void 
      projectPoints (const std::vector<int> &inliers, 
                     const Eigen::VectorXf &model_coefficients, 
                     PointCloud &projected_points, 
                     bool copy_data_fields = true);

      bool 
      doSamplesVerifyModel (const std::set<int> &indices, 
                            const Eigen::VectorXf &model_coefficients, 
                            const double threshold);

      inline pcl::SacModel 
      getModelType () const { return (SACMODEL_STICK); }

    protected:
      inline bool 
      isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        if (model_coefficients.size () != 7)
        {
          PCL_ERROR ("[pcl::SampleConsensusModelStick::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", (unsigned long)model_coefficients.size ());
          return (false);
        }

        return (true);
      }

      bool
      isSampleGood (const std::vector<int> &samples) const;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_