Point Cloud Library (PCL)  1.14.1-dev
sac_model_normal_parallel_plane.hpp
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
43 
44 #include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
45 
46 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
47 template <typename PointT, typename PointNT> bool
48 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
49 {
50  if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
51  return (false);
52 
53  // Check against template, if given
54  if (eps_angle_ > 0.0)
55  {
56  // Obtain the plane normal
57  Eigen::Vector4f coeff = model_coefficients;
58  coeff[3] = 0.0f;
59  coeff.normalize ();
60 
61  if (std::abs (axis_.dot (coeff)) < cos_angle_)
62  {
63  PCL_DEBUG ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Angle between plane normal and given axis is too large.\n");
64  return (false);
65  }
66  }
67 
68  if (eps_dist_ > 0.0)
69  {
70  if (std::abs (-model_coefficients[3] - distance_from_origin_) > eps_dist_)
71  {
72  PCL_DEBUG ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Distance of plane to origin is wrong: expected %g, but is %g, difference is larger than %g.\n",
73  distance_from_origin_, -model_coefficients[3], eps_dist_);
74  return (false);
75  }
76  }
77 
78  return (true);
79 }
80 
81 #define PCL_INSTANTIATE_SampleConsensusModelNormalParallelPlane(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>;
82 
83 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
84 
85 
SampleConsensusModel represents the base model class.
Definition: sac_model.h:71
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.