sac_model_parallel_line.h

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00001 /*
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00036  * $Id: sac_model_parallel_line.h 2326 2011-08-31 07:48:25Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_
00042 
00043 #include <pcl/sample_consensus/sac_model_line.h>
00044 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
00045 
00046 namespace pcl
00047 {
00062   template <typename PointT>
00063   class SampleConsensusModelParallelLine : public SampleConsensusModelLine<PointT>
00064   {
00065     public:
00066       typedef typename SampleConsensusModelLine<PointT>::PointCloud PointCloud;
00067       typedef typename SampleConsensusModelLine<PointT>::PointCloudPtr PointCloudPtr;
00068       typedef typename SampleConsensusModelLine<PointT>::PointCloudConstPtr PointCloudConstPtr;
00069 
00070       typedef boost::shared_ptr<SampleConsensusModelParallelLine> Ptr;
00071 
00075       SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud) : SampleConsensusModelLine<PointT> (cloud),
00076                                                                            eps_angle_ (0.0)
00077       {
00078         axis_.setZero ();
00079       }
00080 
00085       SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelLine<PointT> (cloud, indices),
00086                                                                                                             eps_angle_ (0.0)
00087       {
00088         axis_.setZero ();
00089       }
00090 
00094       inline void 
00095       setAxis (const Eigen::Vector3f &ax) { axis_ = ax; axis_.normalize (); }
00096 
00098       inline Eigen::Vector3f 
00099       getAxis ()  { return (axis_); }
00100 
00104       inline void 
00105       setEpsAngle (const double ea) { eps_angle_ = ea; }
00106 
00108       inline double getEpsAngle () { return (eps_angle_); }
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_PARALLEL_LINE); }
00141 
00142     protected:
00146       bool 
00147       isModelValid (const Eigen::VectorXf &model_coefficients);
00148 
00149     protected:
00151       Eigen::Vector3f axis_;
00152 
00154       double eps_angle_;
00155   };
00156 }
00157 
00158 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_