Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_ 00042 #define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_ 00043 00044 #include <map> 00045 00046 namespace pcl 00047 { 00048 enum SacModel 00049 { 00050 SACMODEL_PLANE, 00051 SACMODEL_LINE, 00052 SACMODEL_CIRCLE2D, 00053 SACMODEL_CIRCLE3D, 00054 SACMODEL_SPHERE, 00055 SACMODEL_CYLINDER, 00056 SACMODEL_CONE, 00057 SACMODEL_TORUS, 00058 SACMODEL_PARALLEL_LINE, 00059 SACMODEL_PERPENDICULAR_PLANE, 00060 SACMODEL_PARALLEL_LINES, 00061 SACMODEL_NORMAL_PLANE, 00062 SACMODEL_NORMAL_SPHERE, 00063 SACMODEL_REGISTRATION, 00064 SACMODEL_REGISTRATION_2D, 00065 SACMODEL_PARALLEL_PLANE, 00066 SACMODEL_NORMAL_PARALLEL_PLANE, 00067 SACMODEL_STICK 00068 }; 00069 } 00070 00071 // Define the number of samples in SacModel needs 00072 typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel; 00073 const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMODEL_PLANE, 3), 00074 SampleSizeModel (pcl::SACMODEL_LINE, 2), 00075 SampleSizeModel (pcl::SACMODEL_CIRCLE2D, 3), 00076 SampleSizeModel (pcl::SACMODEL_CIRCLE3D, 3), 00077 SampleSizeModel (pcl::SACMODEL_SPHERE, 4), 00078 SampleSizeModel (pcl::SACMODEL_CYLINDER, 2), 00079 SampleSizeModel (pcl::SACMODEL_CONE, 3), 00080 //SampleSizeModel (pcl::SACMODEL_TORUS, 2), 00081 SampleSizeModel (pcl::SACMODEL_PARALLEL_LINE, 2), 00082 SampleSizeModel (pcl::SACMODEL_PERPENDICULAR_PLANE, 3), 00083 //SampleSizeModel (pcl::PARALLEL_LINES, 2), 00084 SampleSizeModel (pcl::SACMODEL_NORMAL_PLANE, 3), 00085 SampleSizeModel (pcl::SACMODEL_NORMAL_SPHERE, 4), 00086 SampleSizeModel (pcl::SACMODEL_REGISTRATION, 3), 00087 SampleSizeModel (pcl::SACMODEL_REGISTRATION_2D, 3), 00088 SampleSizeModel (pcl::SACMODEL_PARALLEL_PLANE, 3), 00089 SampleSizeModel (pcl::SACMODEL_NORMAL_PARALLEL_PLANE, 3), 00090 SampleSizeModel (pcl::SACMODEL_STICK, 2)}; 00091 00092 namespace pcl 00093 { 00094 const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs 00095 + sizeof (sample_size_pairs) / sizeof (SampleSizeModel)); 00096 } 00097 00098 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_