sac_model_plane.h

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

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

#include <pcl/features/normal_3d.h>

namespace pcl
{
  template <typename Point> inline double
    pointToPlaneDistanceSigned (const Point &p, double a, double b, double c, double d)
  {
    return (a * p.x + b * p.y + c * p.z + d);
  }

  template <typename Point> inline double
    pointToPlaneDistanceSigned (const Point &p, const Eigen::Vector4f &plane_coefficients)
  {
    return ( plane_coefficients[0] * p.x + plane_coefficients[1] * p.y + plane_coefficients[2] * p.z + plane_coefficients[3] );
  }

  template <typename Point> inline double
    pointToPlaneDistance (const Point &p, double a, double b, double c, double d)
  {
    return (fabs (pointToPlaneDistanceSigned (p, a, b, c, d)) );
  }

  template <typename Point> inline double
    pointToPlaneDistance (const Point &p, const Eigen::Vector4f &plane_coefficients)
  {
    return ( fabs (pointToPlaneDistanceSigned (p, plane_coefficients)) );
  }


  template <typename PointT>
  class SampleConsensusModelPlane : public SampleConsensusModel<PointT>
  {
    public:
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;

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

      typedef boost::shared_ptr<SampleConsensusModelPlane> Ptr;

      SampleConsensusModelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {};

      SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {};

      void getSamples (int &iterations, std::vector<int> &samples);

      bool computeModelCoefficients (const std::vector<int> &samples, Eigen::VectorXf &model_coefficients);

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

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

      void optimizeModelCoefficients (const std::vector<int> &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients);

      void projectPoints (const std::vector<int> &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields = true);

      bool doSamplesVerifyModel (const std::set<int> &indices, const Eigen::VectorXf &model_coefficients, double threshold);

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

    protected:
      inline bool 
        isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        // Needs a valid model coefficients
        if (model_coefficients.size () != 4)
        {
          ROS_ERROR ("[pcl::SampleConsensusModelPlane::isModelValid] Invalid number of model coefficients given (%zu)!", model_coefficients.size ());
          return (false);
        }
        return (true);
      }

    private:
      const static int MAX_ITERATIONS_COLLINEAR = 1000;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_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