sac_model_normal_plane.h

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00001 /*
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00036  * $Id: sac_model_normal_plane.h 2326 2011-08-31 07:48:25Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_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 {
00076   template <typename PointT, typename PointNT>
00077   class SampleConsensusModelNormalPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
00078   {
00079     using SampleConsensusModel<PointT>::input_;
00080     using SampleConsensusModel<PointT>::indices_;
00081     using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
00082     using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;
00083 
00084     public:
00085 
00086       typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
00087       typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
00088       typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;
00089 
00090       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
00091       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;
00092 
00093       typedef boost::shared_ptr<SampleConsensusModelNormalPlane> Ptr;
00094 
00098       SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud)
00099       {
00100       }
00101 
00106       SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices)
00107       {
00108       }
00109 
00115       void 
00116       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00117                             const double threshold, 
00118                             std::vector<int> &inliers);
00119 
00126       virtual int
00127       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00128                            const double threshold);
00129 
00134       void 
00135       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00136                            std::vector<double> &distances);
00137 
00139       inline pcl::SacModel 
00140       getModelType () const { return (SACMODEL_NORMAL_PLANE); }
00141 
00142       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00143 
00144     protected:
00148       bool 
00149       isModelValid (const Eigen::VectorXf &model_coefficients);
00150 
00151   };
00152 }
00153 
00154 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_