sac_model_normal_parallel_plane.h

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00001 /*
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00036  * $Id: sac_model_normal_parallel_plane.h 2326 2011-08-31 07:48:25Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
00042 
00043 #include <pcl/sample_consensus/sac_model.h>
00044 #include <pcl/sample_consensus/sac_model_plane.h>
00045 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
00046 #include <pcl/sample_consensus/model_types.h>
00047 
00048 namespace pcl
00049 {
00087   template <typename PointT, typename PointNT>
00088   class SampleConsensusModelNormalParallelPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
00089   {
00090     using SampleConsensusModel<PointT>::input_;
00091     using SampleConsensusModel<PointT>::indices_;
00092     using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
00093     using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;
00094 
00095     public:
00096 
00097       typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
00098       typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
00099       typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;
00100 
00101       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
00102       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;
00103 
00104       typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> Ptr;
00105 
00109       SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud),
00110                                                                           eps_angle_ (0.0), eps_dist_ (0.0)
00111       {
00112         axis_.setZero ();
00113       }
00114 
00119       SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices),
00120                                                                                                            eps_angle_ (0.0), eps_dist_ (0.0)
00121       {
00122         axis_.setZero ();
00123       }
00124 
00128       inline void 
00129       setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
00130 
00132       inline Eigen::Vector3f 
00133       getAxis () { return (axis_); }
00134 
00139       inline void 
00140       setEpsAngle (const double ea) { eps_angle_ = ea; }
00141 
00143       inline double 
00144       getEpsAngle () { return (eps_angle_); }
00145 
00149       inline void 
00150       setDistanceFromOrigin (const double d) { distance_from_origin_ = d; }
00151 
00153       inline double 
00154       getDistanceFromOrigin () { return (distance_from_origin_); }
00155 
00159       inline void 
00160       setEpsDist (const double delta) { eps_dist_ = delta; }
00161 
00163       inline double 
00164       getEpsDist () { return (eps_dist_); }
00165 
00171       void 
00172       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00173                             const double threshold, 
00174                             std::vector<int> &inliers);
00175 
00182       virtual int
00183       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00184                            const double threshold);
00185 
00190       void 
00191       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00192                            std::vector<double> &distances);
00193 
00195       inline pcl::SacModel 
00196       getModelType () const { return (SACMODEL_NORMAL_PARALLEL_PLANE); }
00197 
00198       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00199 
00200     protected:
00204       bool 
00205       isModelValid (const Eigen::VectorXf &model_coefficients);
00206 
00207    private:
00209       Eigen::Vector3f axis_;
00210 
00212       double distance_from_origin_;
00213 
00215       double eps_angle_;
00216 
00218       double eps_dist_;
00219   };
00220 }
00221 
00222 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_