sac_model_normal_parallel_plane.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_

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

namespace pcl
{
  template <typename PointT, typename PointNT>
  class SampleConsensusModelNormalParallelPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    public:
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;
      using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
      using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;
      using SampleConsensusModel<PointT>::error_sqr_dists_;

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

      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> Ptr;

      SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud,
                                               bool random = false) 
        : SampleConsensusModelPlane<PointT> (cloud, random)
        , SampleConsensusModelFromNormals<PointT, PointNT> ()
        , axis_ (Eigen::Vector4f::Zero ())
        , distance_from_origin_ (0)
        , eps_angle_ (-1.0)
        , cos_angle_ (-1.0)
        , eps_dist_ (0.0)
      {
      }

      SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, 
                                               const std::vector<int> &indices,
                                               bool random = false) 
        : SampleConsensusModelPlane<PointT> (cloud, indices, random)
        , SampleConsensusModelFromNormals<PointT, PointNT> ()
        , axis_ (Eigen::Vector4f::Zero ())
        , distance_from_origin_ (0)
        , eps_angle_ (-1.0)
        , cos_angle_ (-1.0)
        , eps_dist_ (0.0)
      {
      }
      
      virtual ~SampleConsensusModelNormalParallelPlane () {}

      inline void
      setAxis (const Eigen::Vector3f &ax) { axis_.head<3> () = ax; axis_.normalize ();}

      inline Eigen::Vector3f
      getAxis () { return (axis_.head<3> ()); }

      inline void
      setEpsAngle (const double ea) { eps_angle_ = ea; cos_angle_ = fabs (cos (ea));}

      inline double
      getEpsAngle () { return (eps_angle_); }

      inline void
      setDistanceFromOrigin (const double d) { distance_from_origin_ = d; }

      inline double
      getDistanceFromOrigin () { return (distance_from_origin_); }

      inline void
      setEpsDist (const double delta) { eps_dist_ = delta; }

      inline double
      getEpsDist () { return (eps_dist_); }

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

      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients,
                           const double threshold);

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

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

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    protected:
      bool
      isModelValid (const Eigen::VectorXf &model_coefficients);

   private:
      Eigen::Vector4f axis_;

      double distance_from_origin_;

      double eps_angle_;

      double cos_angle_;
      double eps_dist_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/sac_model_normal_parallel_plane.hpp>
#endif

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_