sac_model_parallel_plane.hpp
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00001 /*
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00034  * $Id: sac_model_parallel_plane.hpp 6144 2012-07-04 22:06:28Z rusu $
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00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
00039 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
00040 
00041 #include <pcl/sample_consensus/sac_model_parallel_plane.h>
00042 
00044 template <typename PointT> void
00045 pcl::SampleConsensusModelParallelPlane<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   SampleConsensusModelPlane<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
00056 }
00057 
00059 template <typename PointT> int
00060 pcl::SampleConsensusModelParallelPlane<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 (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
00068 }
00069 
00071 template <typename PointT> void
00072 pcl::SampleConsensusModelParallelPlane<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   SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances);
00083 }
00084 
00086 template <typename PointT> bool
00087 pcl::SampleConsensusModelParallelPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients)
00088 {
00089   // Needs a valid model coefficients
00090   if (model_coefficients.size () != 4)
00091   {
00092     PCL_ERROR ("[pcl::SampleConsensusModelParallelPlane::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 plane normal
00100     Eigen::Vector4f coeff = model_coefficients;
00101     coeff[3] = 0;
00102     coeff.normalize ();
00103 
00104     Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
00105     if (fabs (axis.dot (coeff)) > sin_angle_)
00106       return  (false);
00107   }
00108 
00109   return (true);
00110 }
00111 
00112 #define PCL_INSTANTIATE_SampleConsensusModelParallelPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelParallelPlane<T>;
00113 
00114 #endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
00115 


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