00001 /* 00002 * Copyright (c) 2009 Radu Bogdan Rusu <rusu -=- cs.tum.edu> 00003 * 00004 * All rights reserved. 00005 * 00006 * Redistribution and use in source and binary forms, with or without 00007 * modification, are permitted provided that the following conditions are met: 00008 * 00009 * * Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * * Redistributions in binary form must reproduce the above copyright 00012 * notice, this list of conditions and the following disclaimer in the 00013 * documentation and/or other materials provided with the distribution. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 * 00027 * $Id: sac_model_oriented_plane.h 10961 2009-02-11 00:20:50Z tfoote $ 00028 * 00029 */ 00030 00033 #ifndef _SAMPLE_CONSENSUS_SACMODELNORMALPLANE_H_ 00034 #define _SAMPLE_CONSENSUS_SACMODELNORMALPLANE_H_ 00035 00036 #include <geometry_msgs/Point32.h> 00037 #include <stereo_wall_detection/sample_consensus/sac_model.h> 00038 #include <stereo_wall_detection/sample_consensus/sac_model_plane.h> 00039 #include <stereo_wall_detection/sample_consensus/model_types.h> 00040 00041 namespace sample_consensus 00042 { 00045 class SACModelNormalPlane : public SACModelPlane 00046 { 00047 public: 00048 00049 // Constructor 00050 SACModelNormalPlane() 00051 { 00052 normal_distance_weight_ = 0.0; 00053 eps_angle_ = 0.0; 00054 eps_dist_ = 0.0; 00055 } 00056 00058 00061 void setNormalDistanceWeight (double w) { this->normal_distance_weight_ = w; } 00062 00064 00067 void setAxis (const geometry_msgs::Point32 &ax) 00068 { 00069 this->axis_.x = ax.x; 00070 this->axis_.y = ax.y; 00071 this->axis_.z = ax.z; 00072 } 00073 00075 00078 void setEpsAngle (double ea) { this->eps_angle_ = ea; } 00079 00081 00084 void setDist (double d) { this->dist_ = d; } 00085 00087 00090 void setEpsDist (double delta) { this->eps_dist_ = delta; } 00091 00092 virtual void getDistancesToModel (const std::vector<double> &model_coefficients, std::vector<double> &distances); 00093 virtual void selectWithinDistance (const std::vector<double> &model_coefficients, double threshold, std::vector<int> &inliers); 00094 00096 00097 virtual int getModelType () { return (SACMODEL_NORMAL_PLANE); } 00098 00099 protected: 00100 double normal_distance_weight_; 00101 geometry_msgs::Point32 axis_; 00102 double dist_; 00103 double eps_angle_; 00104 double eps_dist_; 00105 }; 00106 } 00107 00108 #endif