Point Cloud Library (PCL)
1.3.1
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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_parallel_line.h 2326 2011-08-31 07:48:25Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_ 00042 00043 #include <pcl/sample_consensus/sac_model_line.h> 00044 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h> 00045 00046 namespace pcl 00047 { 00062 template <typename PointT> 00063 class SampleConsensusModelParallelLine : public SampleConsensusModelLine<PointT> 00064 { 00065 public: 00066 typedef typename SampleConsensusModelLine<PointT>::PointCloud PointCloud; 00067 typedef typename SampleConsensusModelLine<PointT>::PointCloudPtr PointCloudPtr; 00068 typedef typename SampleConsensusModelLine<PointT>::PointCloudConstPtr PointCloudConstPtr; 00069 00070 typedef boost::shared_ptr<SampleConsensusModelParallelLine> Ptr; 00071 00075 SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud) : SampleConsensusModelLine<PointT> (cloud), 00076 eps_angle_ (0.0) 00077 { 00078 axis_.setZero (); 00079 } 00080 00085 SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelLine<PointT> (cloud, indices), 00086 eps_angle_ (0.0) 00087 { 00088 axis_.setZero (); 00089 } 00090 00094 inline void 00095 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; axis_.normalize (); } 00096 00098 inline Eigen::Vector3f 00099 getAxis () { return (axis_); } 00100 00104 inline void 00105 setEpsAngle (const double ea) { eps_angle_ = ea; } 00106 00108 inline double getEpsAngle () { return (eps_angle_); } 00109 00115 void 00116 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00117 const double threshold, 00118 std::vector<int> &inliers); 00119 00126 virtual int 00127 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00128 const double threshold); 00129 00134 void 00135 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00136 std::vector<double> &distances); 00137 00139 inline pcl::SacModel 00140 getModelType () const { return (SACMODEL_PARALLEL_LINE); } 00141 00142 protected: 00146 bool 00147 isModelValid (const Eigen::VectorXf &model_coefficients); 00148 00149 protected: 00151 Eigen::Vector3f axis_; 00152 00154 double eps_angle_; 00155 }; 00156 } 00157 00158 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_