sac_model_normal_parallel_plane.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2010-2011, Willow Garage, Inc.
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of Willow Garage, Inc. nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  * $Id: sac_model_normal_parallel_plane.h 4710 2012-02-23 17:51:24Z rusu $
00037  *
00038  */
00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
00042 
00043 #include <pcl/sample_consensus/sac_model.h>
00044 #include <pcl/sample_consensus/sac_model_plane.h>
00045 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
00046 #include <pcl/sample_consensus/model_types.h>
00047 
00048 namespace pcl
00049 {
00084   template <typename PointT, typename PointNT>
00085   class SampleConsensusModelNormalParallelPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
00086   {
00087     using SampleConsensusModel<PointT>::input_;
00088     using SampleConsensusModel<PointT>::indices_;
00089     using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
00090     using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;
00091 
00092     public:
00093 
00094       typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
00095       typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
00096       typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;
00097 
00098       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
00099       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;
00100 
00101       typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> Ptr;
00102 
00106       SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud) : 
00107         SampleConsensusModelPlane<PointT> (cloud),
00108         axis_ (Eigen::Vector4f::Zero ()),
00109         distance_from_origin_ (0),
00110         eps_angle_ (-1.0), cos_angle_ (-1.0), eps_dist_ (0.0)
00111       {
00112       }
00113 
00118       SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : 
00119         SampleConsensusModelPlane<PointT> (cloud, indices),
00120         axis_ (Eigen::Vector4f::Zero ()),
00121         distance_from_origin_ (0),
00122         eps_angle_ (-1.0), cos_angle_ (-1.0), eps_dist_ (0.0)
00123       {
00124       }
00125 
00129       inline void
00130       setAxis (const Eigen::Vector3f &ax) { axis_.head<3> () = ax; axis_.normalize ();}
00131 
00133       inline Eigen::Vector3f
00134       getAxis () { return (axis_.head<3> ()); }
00135 
00140       inline void
00141       setEpsAngle (const double ea) { eps_angle_ = ea; cos_angle_ = fabs (cos (ea));}
00142 
00144       inline double
00145       getEpsAngle () { return (eps_angle_); }
00146 
00150       inline void
00151       setDistanceFromOrigin (const double d) { distance_from_origin_ = d; }
00152 
00154       inline double
00155       getDistanceFromOrigin () { return (distance_from_origin_); }
00156 
00160       inline void
00161       setEpsDist (const double delta) { eps_dist_ = delta; }
00162 
00164       inline double
00165       getEpsDist () { return (eps_dist_); }
00166 
00172       void
00173       selectWithinDistance (const Eigen::VectorXf &model_coefficients,
00174                             const double threshold,
00175                             std::vector<int> &inliers);
00176 
00183       virtual int
00184       countWithinDistance (const Eigen::VectorXf &model_coefficients,
00185                            const double threshold);
00186 
00191       void
00192       getDistancesToModel (const Eigen::VectorXf &model_coefficients,
00193                            std::vector<double> &distances);
00194 
00196       inline pcl::SacModel
00197       getModelType () const { return (SACMODEL_NORMAL_PARALLEL_PLANE); }
00198 
00199         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00200 
00201     protected:
00205       bool
00206       isModelValid (const Eigen::VectorXf &model_coefficients);
00207 
00208    private:
00210       Eigen::Vector4f axis_;
00211 
00213       double distance_from_origin_;
00214 
00216       double eps_angle_;
00217 
00219       double cos_angle_;
00221       double eps_dist_;
00222   };
00223 }
00224 
00225 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:43