Point Cloud Library (PCL) 1.13.0
sac_model_parallel_plane.hpp
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40
41#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
42#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
43
44#include <pcl/sample_consensus/sac_model_parallel_plane.h>
45
46//////////////////////////////////////////////////////////////////////////
47template <typename PointT> void
49 const Eigen::VectorXf &model_coefficients, const double threshold, Indices &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//////////////////////////////////////////////////////////////////////////
62template <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 {
69 return (0);
70 }
71
72 return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
73}
74
75//////////////////////////////////////////////////////////////////////////
76template <typename PointT> void
78 const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
79{
80 // Check if the model is valid given the user constraints
81 if (!isModelValid (model_coefficients))
82 {
83 distances.clear ();
84 return;
85 }
86
87 SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances);
88}
89
90//////////////////////////////////////////////////////////////////////////
91template <typename PointT> bool
92pcl::SampleConsensusModelParallelPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
93{
94 if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
95 {
96 return (false);
97 }
98
99 // Check against template, if given
100 if (eps_angle_ > 0.0)
101 {
102 // Obtain the plane normal
103 Eigen::Vector4f coeff = model_coefficients;
104 coeff[3] = 0.0f;
105 coeff.normalize ();
106
107 Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0.0f);
108 if (std::abs (axis.dot (coeff)) > sin_angle_)
109 {
110 PCL_DEBUG ("[pcl::SampleConsensusModelParallelPlane::isModelValid] Angle between plane normal and given axis is too large.\n");
111 return (false);
112 }
113 }
114
115 return (true);
116}
117
118#define PCL_INSTANTIATE_SampleConsensusModelParallelPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelParallelPlane<T>;
119
120#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
121
SampleConsensusModel represents the base model class.
Definition: sac_model.h:70
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.
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, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133