Point Cloud Library (PCL)  1.14.1-dev
sac_model_parallel_plane.hpp
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
43 
44 #include <pcl/sample_consensus/sac_model_parallel_plane.h>
45 
46 //////////////////////////////////////////////////////////////////////////
47 template <typename PointT> void
49  const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
50 {
51  // Check if the model is valid given the user constraints
52  if (!isModelValid (model_coefficients))
53  {
54  inliers.clear ();
55  return;
56  }
57 
58  SampleConsensusModelPlane<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
59 }
60 
61 //////////////////////////////////////////////////////////////////////////
62 template <typename PointT> std::size_t
64  const Eigen::VectorXf &model_coefficients, const double threshold) const
65 {
66  // Check if the model is valid given the user constraints
67  if (!isModelValid (model_coefficients))
68  {
69  return (0);
70  }
71 
72  return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
73 }
74 
75 //////////////////////////////////////////////////////////////////////////
76 template <typename PointT> void
78  const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
79 {
80  // Check if the model is valid given the user constraints
81  if (!isModelValid (model_coefficients))
82  {
83  distances.clear ();
84  return;
85  }
86 
87  SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances);
88 }
89 
90 //////////////////////////////////////////////////////////////////////////
91 template <typename PointT> bool
92 pcl::SampleConsensusModelParallelPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
93 {
94  if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
95  {
96  return (false);
97  }
98 
99  // Check against template, if given
100  if (eps_angle_ > 0.0)
101  {
102  // Obtain the plane normal
103  Eigen::Vector4f coeff = model_coefficients;
104  coeff[3] = 0.0f;
105  coeff.normalize ();
106 
107  Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0.0f);
108  if (std::abs (axis.dot (coeff)) > sin_angle_)
109  {
110  PCL_DEBUG ("[pcl::SampleConsensusModelParallelPlane::isModelValid] Angle between plane normal and given axis is too large.\n");
111  return (false);
112  }
113  }
114 
115  return (true);
116 }
117 
118 #define PCL_INSTANTIATE_SampleConsensusModelParallelPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelParallelPlane<T>;
119 
120 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_PLANE_H_
121 
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.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133