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_normal_parallel_plane.h 2326 2011-08-31 07:48:25Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_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 { 00087 template <typename PointT, typename PointNT> 00088 class SampleConsensusModelNormalParallelPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT> 00089 { 00090 using SampleConsensusModel<PointT>::input_; 00091 using SampleConsensusModel<PointT>::indices_; 00092 using SampleConsensusModelFromNormals<PointT, PointNT>::normals_; 00093 using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_; 00094 00095 public: 00096 00097 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00098 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00099 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00100 00101 typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr; 00102 typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr; 00103 00104 typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> Ptr; 00105 00109 SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud), 00110 eps_angle_ (0.0), eps_dist_ (0.0) 00111 { 00112 axis_.setZero (); 00113 } 00114 00119 SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices), 00120 eps_angle_ (0.0), eps_dist_ (0.0) 00121 { 00122 axis_.setZero (); 00123 } 00124 00128 inline void 00129 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; } 00130 00132 inline Eigen::Vector3f 00133 getAxis () { return (axis_); } 00134 00139 inline void 00140 setEpsAngle (const double ea) { eps_angle_ = ea; } 00141 00143 inline double 00144 getEpsAngle () { return (eps_angle_); } 00145 00149 inline void 00150 setDistanceFromOrigin (const double d) { distance_from_origin_ = d; } 00151 00153 inline double 00154 getDistanceFromOrigin () { return (distance_from_origin_); } 00155 00159 inline void 00160 setEpsDist (const double delta) { eps_dist_ = delta; } 00161 00163 inline double 00164 getEpsDist () { return (eps_dist_); } 00165 00171 void 00172 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00173 const double threshold, 00174 std::vector<int> &inliers); 00175 00182 virtual int 00183 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00184 const double threshold); 00185 00190 void 00191 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00192 std::vector<double> &distances); 00193 00195 inline pcl::SacModel 00196 getModelType () const { return (SACMODEL_NORMAL_PARALLEL_PLANE); } 00197 00198 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00199 00200 protected: 00204 bool 00205 isModelValid (const Eigen::VectorXf &model_coefficients); 00206 00207 private: 00209 Eigen::Vector3f axis_; 00210 00212 double distance_from_origin_; 00213 00215 double eps_angle_; 00216 00218 double eps_dist_; 00219 }; 00220 } 00221 00222 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_