sac_model_parallel_plane.h
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00036  * $Id: sac_model_parallel_plane.h 6144 2012-07-04 22:06:28Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
00042 
00043 #include <pcl/sample_consensus/sac_model_plane.h>
00044 #include <pcl/common/common.h>
00045 
00046 namespace pcl
00047 {
00064   template <typename PointT>
00065   class SampleConsensusModelParallelPlane : public SampleConsensusModelPlane<PointT>
00066   {
00067     public:
00068       typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud;
00069       typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr;
00070       typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr;
00071 
00072       typedef boost::shared_ptr<SampleConsensusModelParallelPlane> Ptr;
00073 
00077       SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud) : 
00078         SampleConsensusModelPlane<PointT> (cloud),
00079         axis_ (Eigen::Vector3f::Zero ()),
00080         eps_angle_ (0.0), sin_angle_ (-1.0)
00081       {
00082       }
00083 
00088       SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : 
00089         SampleConsensusModelPlane<PointT> (cloud, indices),
00090         axis_ (Eigen::Vector3f::Zero ()),
00091         eps_angle_ (0.0), sin_angle_ (-1.0)
00092       {
00093       }
00094 
00098       inline void
00099       setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
00100 
00102       inline Eigen::Vector3f
00103       getAxis ()  { return (axis_); }
00104 
00109       inline void
00110       setEpsAngle (const double ea) { eps_angle_ = ea; sin_angle_ = fabs (sin (ea));}
00111 
00113       inline double
00114       getEpsAngle () { return (eps_angle_); }
00115 
00121       void
00122       selectWithinDistance (const Eigen::VectorXf &model_coefficients,
00123                             const double threshold,
00124                             std::vector<int> &inliers);
00125 
00132       virtual int
00133       countWithinDistance (const Eigen::VectorXf &model_coefficients,
00134                            const double threshold);
00135 
00140       void
00141       getDistancesToModel (const Eigen::VectorXf &model_coefficients,
00142                            std::vector<double> &distances);
00143 
00145       inline pcl::SacModel
00146       getModelType () const { return (SACMODEL_PARALLEL_PLANE); }
00147 
00148     protected:
00152       bool
00153       isModelValid (const Eigen::VectorXf &model_coefficients);
00154 
00156       Eigen::Vector3f axis_;
00157 
00159       double eps_angle_;
00160 
00162       double sin_angle_;
00163   };
00164 }
00165 
00166 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_


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