sac_model_parallel_line.hpp
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00034  * $Id: sac_model_parallel_line.hpp 5026 2012-03-12 02:51:44Z rusu $
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00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_
00039 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_
00040 
00041 #include <pcl/sample_consensus/sac_model_parallel_line.h>
00042 
00044 template <typename PointT> void
00045 pcl::SampleConsensusModelParallelLine<PointT>::selectWithinDistance (
00046       const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers)
00047 {
00048   // Check if the model is valid given the user constraints
00049   if (!isModelValid (model_coefficients))
00050   {
00051     inliers.clear ();
00052     return;
00053   }
00054 
00055   SampleConsensusModelLine<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
00056 }
00057 
00059 template <typename PointT> int
00060 pcl::SampleConsensusModelParallelLine<PointT>::countWithinDistance (
00061       const Eigen::VectorXf &model_coefficients, const double threshold)
00062 {
00063   // Check if the model is valid given the user constraints
00064   if (!isModelValid (model_coefficients))
00065     return (0);
00066 
00067   return (SampleConsensusModelLine<PointT>::countWithinDistance (model_coefficients, threshold));
00068 }
00069 
00071 template <typename PointT> void
00072 pcl::SampleConsensusModelParallelLine<PointT>::getDistancesToModel (
00073       const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
00074 {
00075   // Check if the model is valid given the user constraints
00076   if (!isModelValid (model_coefficients))
00077   {
00078     distances.clear ();
00079     return;
00080   }
00081 
00082   SampleConsensusModelLine<PointT>::getDistancesToModel (model_coefficients, distances);
00083 }
00084 
00086 template <typename PointT> bool
00087 pcl::SampleConsensusModelParallelLine<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients)
00088 {
00089   // Needs a valid model coefficients
00090   if (model_coefficients.size () != 6)
00091   {
00092     PCL_ERROR ("[pcl::SampleConsensusParallelLine::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
00093     return (false);
00094   }
00095 
00096   // Check against template, if given
00097   if (eps_angle_ > 0.0)
00098   {
00099     // Obtain the line direction
00100     Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
00101 
00102     Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
00103     double angle_diff = fabs (getAngle3D (axis, line_dir));
00104     //angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
00105     angle_diff = fabs (angle_diff - (M_PI/2.0));
00106     // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
00107     if (angle_diff > eps_angle_)
00108       return (false);
00109   }
00110 
00111   return (true);
00112 }
00113 
00114 #define PCL_INSTANTIATE_SampleConsensusModelParallelLine(T) template class PCL_EXPORTS pcl::SampleConsensusModelParallelLine<T>;
00115 
00116 #endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_
00117 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:44