sac_model_normal_parallel_plane.h

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 * $Id: sac_model_normal_parallel_plane.h 36021 2011-02-17 03:44:01Z vrabaud $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
#include <pcl/sample_consensus/model_types.h>

#include <pcl/features/normal_3d.h>

namespace pcl
{

  template <typename PointT, typename PointNT>
  class SampleConsensusModelNormalParallelPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;

    public:

      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> Ptr;

      SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud),
                                                                          eps_angle_ (0.0), eps_dist_ (0.0)
      {
        axis_.setZero ();
      }

      SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices),
                                                                                                           eps_angle_ (0.0), eps_dist_ (0.0)
      {
        axis_.setZero ();
      }

      inline void setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }

      inline Eigen::Vector3f getAxis () { return (axis_); }

      inline void setEpsAngle (double ea) { eps_angle_ = ea; }

      inline double getEpsAngle () { return (eps_angle_); }

      inline void setDistanceFromOrigin (double d) { distance_from_origin_ = d; }

      inline double getDistanceFromOrigin () { return (distance_from_origin_); }

      inline void setEpsDist (double delta) { eps_dist_ = delta; }

      inline double getEpsDist () { return (eps_dist_); }

      void selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector<int> &inliers);

      void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector<double> &distances);

      inline pcl::SacModel getModelType () const { return (SACMODEL_NORMAL_PARALLEL_PLANE); }

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    protected:
      bool isModelValid (const Eigen::VectorXf &model_coefficients);

   private:
      Eigen::Vector3f axis_;

      double distance_from_origin_;

      double eps_angle_;

      double eps_dist_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013