pcl: sac_model_perpendicular_plane.h Source File

00001 /*
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00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
00039 #define PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
00040 
00041 #include <pcl/sample_consensus/sac_model_plane.h>
00042 #include <pcl/common/common.h>
00043 
00044 namespace pcl
00045 {
00049 
00053   template <typename PointT>
00054   class SampleConsensusModelPerpendicularPlane : public SampleConsensusModelPlane<PointT>
00055   {
00056     public:
00057       typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud;
00058       typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr;
00059       typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr;
00060 
00061       typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> Ptr;
00062 
00066       SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud),
00067                                                                             eps_angle_ (0.0)
00068       {
00069         axis_.setZero ();
00070       }
00071 
00076       SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices),
00077                                                                                                              eps_angle_ (0.0)
00078       {
00079         axis_.setZero ();
00080       }
00081 
00085       inline void setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
00086 
00088       inline Eigen::Vector3f getAxis ()  { return (axis_); }
00089 
00093       inline void setEpsAngle (double ea) { eps_angle_ = ea; }
00094 
00096       inline double getEpsAngle () { return (eps_angle_); }
00097 
00103       void selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector<int> &inliers);
00104 
00109       void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector<double> &distances);
00110 
00112       inline pcl::SacModel getModelType () const { return (SACMODEL_PERPENDICULAR_PLANE); }
00113 
00114     protected:
00118       bool isModelValid (const Eigen::VectorXf &model_coefficients);
00119 
00121       Eigen::Vector3f axis_;
00122 
00124       double eps_angle_;
00125   };
00126 }
00127 
00128 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_