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_perpendicular_plane.h 2326 2011-08-31 07:48:25Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_ 00042 00043 #include <pcl/sample_consensus/sac_model_plane.h> 00044 #include <pcl/common/common.h> 00045 00046 namespace pcl 00047 { 00070 template <typename PointT> 00071 class SampleConsensusModelPerpendicularPlane : public SampleConsensusModelPlane<PointT> 00072 { 00073 public: 00074 typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud; 00075 typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr; 00076 typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr; 00077 00078 typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> Ptr; 00079 00083 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud) : 00084 SampleConsensusModelPlane<PointT> (cloud), eps_angle_ (0.0) 00085 { 00086 axis_.setZero (); 00087 } 00088 00093 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, 00094 const std::vector<int> &indices) : 00095 SampleConsensusModelPlane<PointT> (cloud, indices), eps_angle_ (0.0) 00096 { 00097 axis_.setZero (); 00098 } 00099 00103 inline void 00104 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; } 00105 00107 inline Eigen::Vector3f 00108 getAxis () { return (axis_); } 00109 00114 inline void 00115 setEpsAngle (const double ea) { eps_angle_ = ea; } 00116 00118 inline double 00119 getEpsAngle () { return (eps_angle_); } 00120 00126 void 00127 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00128 const double threshold, 00129 std::vector<int> &inliers); 00130 00137 virtual int 00138 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00139 const double threshold); 00140 00145 void 00146 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00147 std::vector<double> &distances); 00148 00150 inline pcl::SacModel 00151 getModelType () const { return (SACMODEL_PERPENDICULAR_PLANE); } 00152 00153 protected: 00157 bool 00158 isModelValid (const Eigen::VectorXf &model_coefficients); 00159 00161 Eigen::Vector3f axis_; 00162 00164 double eps_angle_; 00165 }; 00166 } 00167 00168 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_