sac_model_parallel_plane.h

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00001 /*
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00036  * $Id: sac_model_parallel_plane.h 2326 2011-08-31 07:48:25Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
00042 
00043 #include <pcl/sample_consensus/sac_model_plane.h>
00044 #include <pcl/common/common.h>
00045 
00046 namespace pcl
00047 {
00064   template <typename PointT>
00065   class SampleConsensusModelParallelPlane : public SampleConsensusModelPlane<PointT>
00066   {
00067     public:
00068       typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud;
00069       typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr;
00070       typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr;
00071 
00072       typedef boost::shared_ptr<SampleConsensusModelParallelPlane> Ptr;
00073 
00077       SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud),
00078                                                                             eps_angle_ (0.0)
00079       {
00080         axis_.setZero ();
00081       }
00082 
00087       SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices),
00088                                                                                                              eps_angle_ (0.0)
00089       {
00090         axis_.setZero ();
00091       }
00092 
00096       inline void 
00097       setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
00098 
00100       inline Eigen::Vector3f 
00101       getAxis ()  { return (axis_); }
00102 
00107       inline void 
00108       setEpsAngle (const double ea) { eps_angle_ = ea; }
00109 
00111       inline double 
00112       getEpsAngle () { return (eps_angle_); }
00113 
00119       void 
00120       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00121                             const double threshold, 
00122                             std::vector<int> &inliers);
00123 
00130       virtual int
00131       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00132                            const double threshold);
00133 
00138       void 
00139       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00140                            std::vector<double> &distances);
00141 
00143       inline pcl::SacModel 
00144       getModelType () const { return (SACMODEL_PARALLEL_PLANE); }
00145 
00146     protected:
00150       bool 
00151       isModelValid (const Eigen::VectorXf &model_coefficients);
00152 
00154       Eigen::Vector3f axis_;
00155 
00157       double eps_angle_;
00158   };
00159 }
00160 
00161 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_