project_inliers.h

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 * $Id: project_inliers.h 6144 2012-07-04 22:06:28Z rusu $
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#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
#define PCL_FILTERS_PROJECT_INLIERS_H_

#include <pcl/point_types.h>
#include <pcl/filters/filter.h>
#include <pcl/ModelCoefficients.h>
// Sample Consensus models
#include <pcl/sample_consensus/model_types.h>
#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/sac_model_circle.h>
#include <pcl/sample_consensus/sac_model_cylinder.h>
#include <pcl/sample_consensus/sac_model_cone.h>
#include <pcl/sample_consensus/sac_model_line.h>
#include <pcl/sample_consensus/sac_model_normal_plane.h>
#include <pcl/sample_consensus/sac_model_normal_sphere.h>
#include <pcl/sample_consensus/sac_model_parallel_plane.h>
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
#include <pcl/sample_consensus/sac_model_parallel_line.h>
#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_sphere.h>

namespace pcl
{

  template<typename PointT>
  class ProjectInliers : public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::indices_;
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
    public:
      ProjectInliers () : model_ (), sacmodel_ (), model_type_ (), copy_all_data_ (false)
      {
        filter_name_ = "ProjectInliers";
      }

      inline void
      setModelType (int model)
      {
        model_type_ = model;
      }

      inline int
      getModelType ()
      {
        return (model_type_);
      }

      inline void
      setModelCoefficients (const ModelCoefficientsConstPtr &model)
      {
        model_ = model;
      }

      inline ModelCoefficientsConstPtr
      getModelCoefficients ()
      {
        return (model_);
      }

      inline void
      setCopyAllData (bool val)
      {
        copy_all_data_ = val;
      }

      inline bool
      getCopyAllData ()
      {
        return (copy_all_data_);
      }
    protected:

      void
      applyFilter (PointCloud &output);

    private:
      ModelCoefficientsConstPtr model_;

      SampleConsensusModelPtr sacmodel_;

      int model_type_;

      bool copy_all_data_;

      virtual bool
      initSACModel (int model_type);
  };


  template<>
  class PCL_EXPORTS ProjectInliers<sensor_msgs::PointCloud2> : public Filter<sensor_msgs::PointCloud2>
  {
    using Filter<sensor_msgs::PointCloud2>::filter_name_;
    using Filter<sensor_msgs::PointCloud2>::getClassName;

    typedef sensor_msgs::PointCloud2 PointCloud2;
    typedef PointCloud2::Ptr PointCloud2Ptr;
    typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

    typedef SampleConsensusModel<PointXYZ>::Ptr SampleConsensusModelPtr;

    public:
      ProjectInliers () : model_type_ (), copy_all_data_ (false), copy_all_fields_ (true), model_ (), sacmodel_ ()
      {
        filter_name_ = "ProjectInliers";
      }

      inline void
      setModelType (int model)
      {
        model_type_ = model;
      }

      inline int
      getModelType () const
      {
        return (model_type_);
      }

      inline void
      setModelCoefficients (const ModelCoefficientsConstPtr &model)
      {
        model_ = model;
      }

      inline ModelCoefficientsConstPtr
      getModelCoefficients () const
      {
        return (model_);
      }

      inline void
      setCopyAllFields (bool val)
      {
        copy_all_fields_ = val;
      }

      inline bool
      getCopyAllFields () const
      {
        return (copy_all_fields_);
      }

      inline void
      setCopyAllData (bool val)
      {
        copy_all_data_ = val;
      }

      inline bool
      getCopyAllData () const
      {
        return (copy_all_data_);
      }
    protected:
      int model_type_;

      bool copy_all_data_;

      bool copy_all_fields_;

      ModelCoefficientsConstPtr model_;

      void
      applyFilter (PointCloud2 &output);

    private:
      SampleConsensusModelPtr sacmodel_;

      virtual bool
      initSACModel (int model_type);
  };
}

#endif  //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_