Store required sample size inside SampleConsensusModel classes

sample_consensus/include/pcl/sample_consensus/model_types.h

@@ -68,7 +68,9 @@ namespace pcl
   };
 }
 
-// Define the number of samples in SacModel needs
+// Warning: this array is deprecated and is kept only to prevent breaking
+// existing user code. Starting from PCL 1.8.0 model sample size is a protected
+// member of the SampleConsensusModel class
 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),
@@ -91,6 +93,7 @@ const static SampleSizeModel sample_size_pairs[] = {SampleSizeModel (pcl::SACMOD
 
 namespace pcl
 {
+  // Warning: this map is deprecated, see the note above
   const static std::map<pcl::SacModel, unsigned int> SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs
       + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
 }

sample_consensus/include/pcl/sample_consensus/sac_model.h

@@ -355,14 +355,11 @@ namespace pcl
         return (model_name_);
       }
 
-      /** \brief Return the size of a sample from which a model is computed */
-      inline unsigned int 
-      getSampleSize () const 
-      { 
-        std::map<pcl::SacModel, unsigned int>::const_iterator it = SAC_SAMPLE_SIZE.find (getModelType ());
-        if (it == SAC_SAMPLE_SIZE.end ())
-          throw InvalidSACModelTypeException ("No sample size defined for given model type!\n");
-        return (it->second);
+      /** \brief Return the size of a sample from which the model is computed. */
+      inline unsigned int
+      getSampleSize () const
+      {
+        return sample_size_;
       }
 
       /** \brief Return the number of coefficients in the model. */
@@ -571,6 +568,9 @@ namespace pcl
       /** \brief A vector holding the distances to the computed model. Used internally. */
       std::vector<double> error_sqr_dists_;
 
+      /** \brief The size of a sample from which the model is computed. Every subclass should initialize this appropriately. */
+      unsigned int sample_size_;
+
       /** \brief The number of coefficients in the model. Every subclass should initialize this appropriately. */
       unsigned int model_size_;
 

sample_consensus/include/pcl/sample_consensus/sac_model_circle.h

@@ -81,6 +81,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, random), tmp_inliers_ () 
       {
         model_name_ = "SampleConsensusModelCircle2D";
+        sample_size_ = 3;
         model_size_ = 3;
       }
 
@@ -95,6 +96,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, indices, random), tmp_inliers_ ()
       {
         model_name_ = "SampleConsensusModelCircle2D";
+        sample_size_ = 3;
         model_size_ = 3;
       }
 
@@ -197,6 +199,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_CIRCLE2D); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check whether a model is valid given the user constraints.

sample_consensus/include/pcl/sample_consensus/sac_model_circle3d.h

@@ -83,6 +83,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, random)
       {
         model_name_ = "SampleConsensusModelCircle3D";
+        sample_size_ = 3;
         model_size_ = 7;
       }
 
@@ -97,6 +98,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, indices, random)
       {
         model_name_ = "SampleConsensusModelCircle3D";
+        sample_size_ = 3;
         model_size_ = 7;
       }
 
@@ -199,6 +201,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_CIRCLE3D); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check whether a model is valid given the user constraints.

sample_consensus/include/pcl/sample_consensus/sac_model_cone.h

@@ -95,6 +95,7 @@ namespace pcl
         , tmp_inliers_ ()
       {
         model_name_ = "SampleConsensusModelCone";
+        sample_size_ = 3;
         model_size_ = 7;
       }
 
@@ -115,6 +116,7 @@ namespace pcl
         , tmp_inliers_ ()
       {
         model_name_ = "SampleConsensusModelCone";
+        sample_size_ = 3;
         model_size_ = 7;
       }
 
@@ -270,6 +272,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_CONE); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Get the distance from a point to a line (represented by a point and a direction)

sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h

@@ -93,6 +93,7 @@ namespace pcl
         , tmp_inliers_ ()
       {
         model_name_ = "SampleConsensusModelCylinder";
+        sample_size_ = 2;
         model_size_ = 7;
       }
 
@@ -111,6 +112,7 @@ namespace pcl
         , tmp_inliers_ ()
       {
         model_name_ = "SampleConsensusModelCylinder";
+        sample_size_ = 2;
         model_size_ = 7;
       }
 
@@ -242,6 +244,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_CYLINDER); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Get the distance from a point to a line (represented by a point and a direction)

sample_consensus/include/pcl/sample_consensus/sac_model_line.h

@@ -83,6 +83,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, random)
       {
         model_name_ = "SampleConsensusModelLine";
+        sample_size_ = 2;
         model_size_ = 6;
       }
 
@@ -97,6 +98,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, indices, random)
       {
         model_name_ = "SampleConsensusModelLine";
+        sample_size_ = 2;
         model_size_ = 6;
       }
 
@@ -179,6 +181,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_LINE); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check if a sample of indices results in a good sample of points

sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h

@@ -114,6 +114,7 @@ namespace pcl
         , eps_dist_ (0.0)
       {
         model_name_ = "SampleConsensusModelNormalParallelPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -133,6 +134,7 @@ namespace pcl
         , eps_dist_ (0.0)
       {
         model_name_ = "SampleConsensusModelNormalParallelPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -187,6 +189,7 @@ namespace pcl
     	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check whether a model is valid given the user constraints.

sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h

@@ -103,6 +103,7 @@ namespace pcl
         , SampleConsensusModelFromNormals<PointT, PointNT> ()
       {
         model_name_ = "SampleConsensusModelNormalPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -118,6 +119,7 @@ namespace pcl
         , SampleConsensusModelFromNormals<PointT, PointNT> ()
       {
         model_name_ = "SampleConsensusModelNormalPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -159,6 +161,7 @@ namespace pcl
     	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
   };
 }

sample_consensus/include/pcl/sample_consensus/sac_model_normal_sphere.h

@@ -97,6 +97,7 @@ namespace pcl
         , SampleConsensusModelFromNormals<PointT, PointNT> ()
       {
         model_name_ = "SampleConsensusModelNormalSphere";
+        sample_size_ = 4;
         model_size_ = 4;
       }
 
@@ -112,6 +113,7 @@ namespace pcl
         , SampleConsensusModelFromNormals<PointT, PointNT> ()
       {
         model_name_ = "SampleConsensusModelNormalSphere";
+        sample_size_ = 4;
         model_size_ = 4;
       }
 
@@ -152,6 +154,7 @@ namespace pcl
     	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check whether a model is valid given the user constraints.

sample_consensus/include/pcl/sample_consensus/sac_model_parallel_line.h

@@ -85,6 +85,7 @@ namespace pcl
         , eps_angle_ (0.0)
       {
         model_name_ = "SampleConsensusModelParallelLine";
+        sample_size_ = 2;
         model_size_ = 6;
       }
 
@@ -101,6 +102,7 @@ namespace pcl
         , eps_angle_ (0.0)
       {
         model_name_ = "SampleConsensusModelParallelLine";
+        sample_size_ = 2;
         model_size_ = 6;
       }
 
@@ -159,6 +161,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_PARALLEL_LINE); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check whether a model is valid given the user constraints.

sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h

@@ -86,6 +86,7 @@ namespace pcl
         , sin_angle_ (-1.0)
       {
         model_name_ = "SampleConsensusModelParallelPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -103,6 +104,7 @@ namespace pcl
         , sin_angle_ (-1.0)
       {
         model_name_ = "SampleConsensusModelParallelPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -163,6 +165,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_PARALLEL_PLANE); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check whether a model is valid given the user constraints.

sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h

@@ -90,6 +90,7 @@ namespace pcl
         , eps_angle_ (0.0)
       {
         model_name_ = "SampleConsensusModelPerpendicularPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -106,9 +107,10 @@ namespace pcl
         , eps_angle_ (0.0)
       {
         model_name_ = "SampleConsensusModelPerpendicularPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
-      
+
       /** \brief Empty destructor */
       virtual ~SampleConsensusModelPerpendicularPlane () {}
 
@@ -166,6 +168,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_PERPENDICULAR_PLANE); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check whether a model is valid given the user constraints.

sample_consensus/include/pcl/sample_consensus/sac_model_plane.h

@@ -156,6 +156,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, random)
       {
         model_name_ = "SampleConsensusModelPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -170,6 +171,7 @@ namespace pcl
         : SampleConsensusModel<PointT> (cloud, indices, random)
       {
         model_name_ = "SampleConsensusModelPlane";
+        sample_size_ = 3;
         model_size_ = 4;
       }
 
@@ -252,6 +254,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_PLANE); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
     private:

sample_consensus/include/pcl/sample_consensus/sac_model_registration.h

@@ -85,6 +85,7 @@ namespace pcl
         // Call our own setInputCloud
         setInputCloud (cloud);
         model_name_ = "SampleConsensusModelRegistration";
+        sample_size_ = 3;
         model_size_ = 16;
       }
 
@@ -105,6 +106,7 @@ namespace pcl
         computeOriginalIndexMapping ();
         computeSampleDistanceThreshold (cloud, indices);
         model_name_ = "SampleConsensusModelRegistration";
+        sample_size_ = 3;
         model_size_ = 16;
       }
 
@@ -217,6 +219,7 @@ namespace pcl
       getModelType () const { return (SACMODEL_REGISTRATION); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check if a sample of indices results in a good sample of points

sample_consensus/include/pcl/sample_consensus/sac_model_registration_2d.h

@@ -81,6 +81,7 @@ namespace pcl
         // Call our own setInputCloud
         setInputCloud (cloud);
         model_name_ = "SampleConsensusModelRegistration2D";
+        sample_size_ = 3;
         model_size_ = 16;
       }
 
@@ -98,6 +99,7 @@ namespace pcl
         computeOriginalIndexMapping ();
         computeSampleDistanceThreshold (cloud, indices);
         model_name_ = "SampleConsensusModelRegistration2D";
+        sample_size_ = 3;
         model_size_ = 16;
       }
 
@@ -145,6 +147,7 @@ namespace pcl
       { return (projection_matrix_); }
 
     protected:
+      using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
 
       /** \brief Check if a sample of indices results in a good sample of points