sac_model_perpendicular_plane.h

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00001 /*
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00036  * $Id: sac_model_perpendicular_plane.h 2326 2011-08-31 07:48:25Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
00042 
00043 #include <pcl/sample_consensus/sac_model_plane.h>
00044 #include <pcl/common/common.h>
00045 
00046 namespace pcl
00047 {
00070   template <typename PointT>
00071   class SampleConsensusModelPerpendicularPlane : public SampleConsensusModelPlane<PointT>
00072   {
00073     public:
00074       typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud;
00075       typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr;
00076       typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr;
00077 
00078       typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> Ptr;
00079 
00083       SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud) : 
00084         SampleConsensusModelPlane<PointT> (cloud), eps_angle_ (0.0)
00085       {
00086         axis_.setZero ();
00087       }
00088 
00093       SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, 
00094                                               const std::vector<int> &indices) : 
00095         SampleConsensusModelPlane<PointT> (cloud, indices), eps_angle_ (0.0)
00096       {
00097         axis_.setZero ();
00098       }
00099 
00103       inline void 
00104       setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
00105 
00107       inline Eigen::Vector3f 
00108       getAxis ()  { return (axis_); }
00109 
00114       inline void 
00115       setEpsAngle (const double ea) { eps_angle_ = ea; }
00116 
00118       inline double 
00119       getEpsAngle () { return (eps_angle_); }
00120 
00126       void 
00127       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00128                             const double threshold, 
00129                             std::vector<int> &inliers);
00130 
00137       virtual int
00138       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00139                            const double threshold);
00140 
00145       void 
00146       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00147                            std::vector<double> &distances);
00148 
00150       inline pcl::SacModel 
00151       getModelType () const { return (SACMODEL_PERPENDICULAR_PLANE); }
00152 
00153     protected:
00157       bool 
00158       isModelValid (const Eigen::VectorXf &model_coefficients);
00159 
00161       Eigen::Vector3f axis_;
00162 
00164       double eps_angle_;
00165   };
00166 }
00167 
00168 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_