ransacPlane.hpp

#ifndef RANSAC_PLANE_HPP
#define RANSAC_PLANE_HPP

#include "model3d/ransac.hpp"
#include "model3d/point3D.hpp"
#include "model3d/plane3D.hpp"


namespace jafar {
  namespace model3d {

    class RansacPlane: public RANSAC<Plane3D>
    {
    public:
      RansacPlane();
      ~RansacPlane();

      // implement virtual derived function 
      
      void fitSampleModel(std::vector<unsigned int>& sample_data_indices,
        Plane3D& model);
      
      double distance(const Plane3D& model, unsigned int unIndex);

      bool isDegenerate(std::vector<unsigned int>& sample_data_indices); 
     
      
      void setData(std::vector<Point3D>* pPoints, 
       std::vector<int>* dataIndices);

      
      
      std::vector<Point3D>* m_pPoints;

      std::vector<int>* m_pDataIndices;
    };

  } // namespace model3d
} // namespace jafar


#endif // RANSAC_PLANE_HPP