sac_model_normal_plane.h
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00001 /*
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00036  * $Id: sac_model_normal_plane.h 3751 2011-12-31 23:18:12Z rusu $
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00039 
00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_
00041 #define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_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 {
00074   template <typename PointT, typename PointNT>
00075   class SampleConsensusModelNormalPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
00076   {
00077     using SampleConsensusModel<PointT>::input_;
00078     using SampleConsensusModel<PointT>::indices_;
00079     using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
00080     using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;
00081 
00082     public:
00083 
00084       typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
00085       typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
00086       typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;
00087 
00088       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
00089       typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;
00090 
00091       typedef boost::shared_ptr<SampleConsensusModelNormalPlane> Ptr;
00092 
00096       SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud)
00097       {
00098       }
00099 
00104       SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices)
00105       {
00106       }
00107 
00113       void 
00114       selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
00115                             const double threshold, 
00116                             std::vector<int> &inliers);
00117 
00124       virtual int
00125       countWithinDistance (const Eigen::VectorXf &model_coefficients, 
00126                            const double threshold);
00127 
00132       void 
00133       getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
00134                            std::vector<double> &distances);
00135 
00137       inline pcl::SacModel 
00138       getModelType () const { return (SACMODEL_NORMAL_PLANE); }
00139 
00140         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00141 
00142     protected:
00146       bool 
00147       isModelValid (const Eigen::VectorXf &model_coefficients);
00148 
00149   };
00150 }
00151 
00152 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_


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