sac_model_perpendicular_plane.hpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  * $Id: sac_model_perpendicular_plane.hpp 5026 2012-03-12 02:51:44Z rusu $
00035  *
00036  */
00037 
00038 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
00039 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
00040 
00041 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
00042 
00044 template <typename PointT> void
00045 pcl::SampleConsensusModelPerpendicularPlane<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::SampleConsensusModelPerpendicularPlane<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::SampleConsensusModelPerpendicularPlane<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::SampleConsensusModelPerpendicularPlane<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::SampleConsensusModelPerpendicularPlane::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 
00103     Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
00104     double angle_diff = fabs (getAngle3D (axis, coeff));
00105     angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
00106     // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
00107     if (angle_diff > eps_angle_)
00108       return (false);
00109   }
00110 
00111   return (true);
00112 }
00113 
00114 #define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>;
00115 
00116 #endif    // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
00117 


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