41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_
44 #include <pcl/sample_consensus/sac_model.h>
45 #include <pcl/sample_consensus/model_types.h>
46 #include <pcl/common/eigen.h>
63 template <
typename Po
intT>
77 typedef boost::shared_ptr<SampleConsensusModelStick>
Ptr;
93 const std::vector<int> &indices,
108 Eigen::VectorXf &model_coefficients);
116 std::vector<double> &distances);
125 const double threshold,
126 std::vector<int> &inliers);
136 const double threshold);
146 const Eigen::VectorXf &model_coefficients,
147 Eigen::VectorXf &optimized_coefficients);
157 const Eigen::VectorXf &model_coefficients,
159 bool copy_data_fields =
true);
168 const Eigen::VectorXf &model_coefficients,
169 const double threshold);
182 if (model_coefficients.size () != 7)
184 PCL_ERROR (
"[pcl::SampleConsensusModelStick::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
200 #ifdef PCL_NO_PRECOMPILE
201 #include <pcl/sample_consensus/impl/sac_model_stick.hpp>
204 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_STICK_H_