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 * $Id: sac_model_normal_sphere.h schrandt $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/sac_model_sphere.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/common/common.h>

namespace pcl
{
  /** \brief @b SampleConsensusModelNormalSphere defines a model for 3D sphere
    * segmentation using additional surface normal constraints. Basically this
    * means that checking for inliers will not only involve a "distance to
    * model" criterion, but also an additional "maximum angular deviation"
    * between the sphere's normal and the inlier points normals.
    *
    * The model coefficients are defined as:
    * <ul>
    * <li><b>a</b> : the X coordinate of the plane's normal (normalized)
    * <li><b>b</b> : the Y coordinate of the plane's normal (normalized)
    * <li><b>c</b> : the Z coordinate of the plane's normal (normalized)
    * <li><b>d</b> : radius of the sphere
    * </ul>
    *
    * \author Stefan Schrandt
    * \ingroup sample_consensus
    */
  template <typename PointT, typename PointNT>
  class SampleConsensusModelNormalSphere : public SampleConsensusModelSphere<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    public:
      using SampleConsensusModel<PointT>::model_name_;
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;
      using SampleConsensusModel<PointT>::radius_min_;
      using SampleConsensusModel<PointT>::radius_max_;
      using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
      using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;
      using SampleConsensusModel<PointT>::error_sqr_dists_;

      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelNormalSphere> Ptr;

      /** \brief Constructor for base SampleConsensusModelNormalSphere.
        * \param[in] cloud the input point cloud dataset
        * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
        */
      SampleConsensusModelNormalSphere (const PointCloudConstPtr &cloud, 
                                        bool random = false) 
        : SampleConsensusModelSphere<PointT> (cloud, random)
        , SampleConsensusModelFromNormals<PointT, PointNT> ()
      {
        model_name_ = "SampleConsensusModelNormalSphere";
        sample_size_ = 4;
        model_size_ = 4;
      }

      /** \brief Constructor for base SampleConsensusModelNormalSphere.
        * \param[in] cloud the input point cloud dataset
        * \param[in] indices a vector of point indices to be used from \a cloud
        * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
        */
      SampleConsensusModelNormalSphere (const PointCloudConstPtr &cloud, 
                                        const std::vector<int> &indices,
                                        bool random = false) 
        : SampleConsensusModelSphere<PointT> (cloud, indices, random)
        , SampleConsensusModelFromNormals<PointT, PointNT> ()
      {
        model_name_ = "SampleConsensusModelNormalSphere";
        sample_size_ = 4;
        model_size_ = 4;
      }
      
      /** \brief Empty destructor */
      virtual ~SampleConsensusModelNormalSphere () {}

      /** \brief Select all the points which respect the given model coefficients as inliers.
        * \param[in] model_coefficients the coefficients of a sphere model that we need to compute distances to
        * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
        * \param[out] inliers the resultant model inliers
        */
      void 
      selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
                            const double threshold, 
                            std::vector<int> &inliers);

      /** \brief Count all the points which respect the given model coefficients as inliers. 
        * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
        * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
        * \return the resultant number of inliers
        */
      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients,
                           const double threshold) const;

      /** \brief Compute all distances from the cloud data to a given sphere model.
        * \param[in] model_coefficients the coefficients of a sphere model that we need to compute distances to
        * \param[out] distances the resultant estimated distances
        */
      void
      getDistancesToModel (const Eigen::VectorXf &model_coefficients,
                           std::vector<double> &distances) const;

      /** \brief Return an unique id for this model (SACMODEL_NORMAL_SPHERE). */
      inline pcl::SacModel 
      getModelType () const { return (SACMODEL_NORMAL_SPHERE); }

    	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.
        * \param[in] model_coefficients the set of model coefficients
        */
      virtual bool
      isModelValid (const Eigen::VectorXf &model_coefficients) const;

  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/sac_model_normal_sphere.hpp>
#endif

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALSPHERE_H_
