Point Cloud Library (PCL)
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sample_consensus
include
pcl
sample_consensus
model_types.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2009, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
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#define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
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#include <map>
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namespace
pcl
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{
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enum
SacModel
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{
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SACMODEL_PLANE
,
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SACMODEL_LINE
,
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SACMODEL_CIRCLE2D
,
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SACMODEL_CIRCLE3D
,
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SACMODEL_SPHERE
,
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SACMODEL_CYLINDER
,
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SACMODEL_CONE
,
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SACMODEL_TORUS
,
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SACMODEL_PARALLEL_LINE
,
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SACMODEL_PERPENDICULAR_PLANE
,
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SACMODEL_PARALLEL_LINES
,
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SACMODEL_NORMAL_PLANE
,
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SACMODEL_NORMAL_SPHERE
,
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SACMODEL_REGISTRATION
,
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SACMODEL_REGISTRATION_2D
,
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SACMODEL_PARALLEL_PLANE
,
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SACMODEL_NORMAL_PARALLEL_PLANE
,
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SACMODEL_STICK
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};
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}
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// Define the number of samples in SacModel needs
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typedef
std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel;
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const
static
SampleSizeModel sample_size_pairs[] = {SampleSizeModel (
pcl::SACMODEL_PLANE
, 3),
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SampleSizeModel (
pcl::SACMODEL_LINE
, 2),
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SampleSizeModel (
pcl::SACMODEL_CIRCLE2D
, 3),
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SampleSizeModel (
pcl::SACMODEL_CIRCLE3D
, 3),
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SampleSizeModel (
pcl::SACMODEL_SPHERE
, 4),
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SampleSizeModel (
pcl::SACMODEL_CYLINDER
, 2),
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SampleSizeModel (
pcl::SACMODEL_CONE
, 3),
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//SampleSizeModel (pcl::SACMODEL_TORUS, 2),
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SampleSizeModel (
pcl::SACMODEL_PARALLEL_LINE
, 2),
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SampleSizeModel (
pcl::SACMODEL_PERPENDICULAR_PLANE
, 3),
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//SampleSizeModel (pcl::PARALLEL_LINES, 2),
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SampleSizeModel (
pcl::SACMODEL_NORMAL_PLANE
, 3),
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SampleSizeModel (
pcl::SACMODEL_NORMAL_SPHERE
, 4),
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SampleSizeModel (
pcl::SACMODEL_REGISTRATION
, 3),
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SampleSizeModel (
pcl::SACMODEL_REGISTRATION_2D
, 3),
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SampleSizeModel (
pcl::SACMODEL_PARALLEL_PLANE
, 3),
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SampleSizeModel (
pcl::SACMODEL_NORMAL_PARALLEL_PLANE
, 3),
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SampleSizeModel (
pcl::SACMODEL_STICK
, 2)};
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namespace
pcl
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{
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const
static
std::map<pcl::SacModel, unsigned int>
SAC_SAMPLE_SIZE
(sample_size_pairs, sample_size_pairs
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+
sizeof
(sample_size_pairs) /
sizeof
(SampleSizeModel));
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}
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#endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_