Point Cloud Library (PCL)  1.10.0-dev
sac_model_perpendicular_plane.hpp
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
43 
44 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
45 
46 //////////////////////////////////////////////////////////////////////////
47 template <typename PointT> void
49  const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers)
50 {
51  // Check if the model is valid given the user constraints
52  if (!isModelValid (model_coefficients))
53  {
54  inliers.clear ();
55  return;
56  }
57 
58  SampleConsensusModelPlane<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
59 }
60 
61 //////////////////////////////////////////////////////////////////////////
62 template <typename PointT> std::size_t
64  const Eigen::VectorXf &model_coefficients, const double threshold) const
65 {
66  // Check if the model is valid given the user constraints
67  if (!isModelValid (model_coefficients))
68  return (0);
69 
70  return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
71 }
72 
73 //////////////////////////////////////////////////////////////////////////
74 template <typename PointT> void
76  const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
77 {
78  // Check if the model is valid given the user constraints
79  if (!isModelValid (model_coefficients))
80  {
81  distances.clear ();
82  return;
83  }
84 
85  SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances);
86 }
87 
88 //////////////////////////////////////////////////////////////////////////
89 template <typename PointT> bool
90 pcl::SampleConsensusModelPerpendicularPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
91 {
92  if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
93  return (false);
94 
95  // Check against template, if given
96  if (eps_angle_ > 0.0)
97  {
98  // Obtain the plane normal
99  Eigen::Vector4f coeff = model_coefficients;
100  coeff[3] = 0;
101 
102  Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
103  double angle_diff = std::abs (getAngle3D (axis, coeff));
104  angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
105  // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
106  if (angle_diff > eps_angle_)
107  return (false);
108  }
109 
110  return (true);
111 }
112 
113 #define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>;
114 
115 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
116 
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree. ...
Definition: common.hpp:46
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
SampleConsensusModel represents the base model class.
Definition: sac_model.h:68
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers) override
Select all the points which respect the given model coefficients as inliers.
SampleConsensusModelPlane defines a model for 3D plane segmentation.