sac_model_oriented_line.h

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/*
 * Copyright (c) 2009 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *
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#ifndef _SAMPLE_CONSENSUS_SACMODELORIENTEDLINE_H_
#define _SAMPLE_CONSENSUS_SACMODELORIENTEDLINE_H_

#include <geometry_msgs/Point32.h>
#include <door_handle_detector/sample_consensus/sac_model.h>
#include <door_handle_detector/sample_consensus/sac_model_line.h>
#include <door_handle_detector/sample_consensus/model_types.h>

namespace sample_consensus
{
  class SACModelOrientedLine : public SACModelLine
  {
    public:


      void
        setAxis (const geometry_msgs::Point32 &ax)
      {
        this->axis_.x = ax.x;
        this->axis_.y = ax.y;
        this->axis_.z = ax.z;
      }


      void setEpsAngle (double ea) { this->eps_angle_ = ea; }

      virtual void getDistancesToModel (const std::vector<double> &model_coefficients, std::vector<double> &distances);
      virtual void selectWithinDistance (const std::vector<double> &model_coefficients, double threshold, std::vector<int> &inliers);


      virtual int getModelType () { return (SACMODEL_ORIENTED_LINE); }

    protected:
      geometry_msgs::Point32 axis_;
      double eps_angle_;
  };
}

#endif