model_types.h
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
#include <map>
namespace pcl
{
enum SacModel
{
SACMODEL_PLANE,
SACMODEL_LINE,
SACMODEL_CIRCLE2D,
SACMODEL_CIRCLE3D,
SACMODEL_SPHERE,
SACMODEL_CYLINDER,
SACMODEL_CONE,
SACMODEL_TORUS,
SACMODEL_PARALLEL_LINE,
SACMODEL_PERPENDICULAR_PLANE,
SACMODEL_PARALLEL_LINES,
SACMODEL_NORMAL_PLANE,
SACMODEL_NORMAL_SPHERE,
SACMODEL_REGISTRATION,
SACMODEL_REGISTRATION_2D,
SACMODEL_PARALLEL_PLANE,
SACMODEL_NORMAL_PARALLEL_PLANE,
SACMODEL_STICK
};
}
// Define the number of samples in SacModel needs
typedef std::map<pcl::SacModel, unsigned int>::value_type SampleSizeModel;
const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMODEL_PLANE, 3),
SampleSizeModel (pcl::SACMODEL_LINE, 2),
SampleSizeModel (pcl::SACMODEL_CIRCLE2D, 3),
SampleSizeModel (pcl::SACMODEL_CIRCLE3D, 3),
SampleSizeModel (pcl::SACMODEL_SPHERE, 4),
SampleSizeModel (pcl::SACMODEL_CYLINDER, 2),
SampleSizeModel (pcl::SACMODEL_CONE, 3),
//SampleSizeModel (pcl::SACMODEL_TORUS, 2),
SampleSizeModel (pcl::SACMODEL_PARALLEL_LINE, 2),
SampleSizeModel (pcl::SACMODEL_PERPENDICULAR_PLANE, 3),
//SampleSizeModel (pcl::PARALLEL_LINES, 2),
SampleSizeModel (pcl::SACMODEL_NORMAL_PLANE, 3),
SampleSizeModel (pcl::SACMODEL_NORMAL_SPHERE, 4),
SampleSizeModel (pcl::SACMODEL_REGISTRATION, 3),
SampleSizeModel (pcl::SACMODEL_REGISTRATION_2D, 3),
SampleSizeModel (pcl::SACMODEL_PARALLEL_PLANE, 3),
SampleSizeModel (pcl::SACMODEL_NORMAL_PARALLEL_PLANE, 3),
SampleSizeModel (pcl::SACMODEL_STICK, 2)};
namespace pcl
{
const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs
+ sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
}
#endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_TYPES_H_
pcl::SACMODEL_LINE
Definition: model_types.h:51
pcl::SACMODEL_CIRCLE2D
Definition: model_types.h:52
pcl::SACMODEL_SPHERE
Definition: model_types.h:54
pcl::SACMODEL_TORUS
Definition: model_types.h:57
pcl
Definition: cloud_iterator.h:46
pcl::SACMODEL_PARALLEL_LINE
Definition: model_types.h:58
pcl::SACMODEL_NORMAL_SPHERE
Definition: model_types.h:62
pcl::SACMODEL_REGISTRATION_2D
Definition: model_types.h:64
pcl::SACMODEL_CONE
Definition: model_types.h:56
pcl::SACMODEL_PLANE
Definition: model_types.h:50
pcl::SAC_SAMPLE_SIZE
static const std::map< pcl::SacModel, unsigned int > SAC_SAMPLE_SIZE(sample_size_pairs, sample_size_pairs+sizeof(sample_size_pairs)/sizeof(SampleSizeModel))
pcl::SACMODEL_STICK
Definition: model_types.h:67
pcl::SACMODEL_REGISTRATION
Definition: model_types.h:63
pcl::SACMODEL_PERPENDICULAR_PLANE
Definition: model_types.h:59
pcl::SACMODEL_CYLINDER
Definition: model_types.h:55
pcl::SacModel
SacModel
Definition: model_types.h:48
pcl::SACMODEL_PARALLEL_PLANE
Definition: model_types.h:65
pcl::SACMODEL_CIRCLE3D
Definition: model_types.h:53
pcl::SACMODEL_NORMAL_PARALLEL_PLANE
Definition: model_types.h:66
pcl::SACMODEL_PARALLEL_LINES
Definition: model_types.h:60
pcl::SACMODEL_NORMAL_PLANE
Definition: model_types.h:61