Point Cloud Library (PCL) 1.12.0
sac_model_parallel_line.hpp
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40
41#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_HPP_
42#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_HPP_
43
44#include <pcl/common/common.h>
45#include <pcl/sample_consensus/sac_model_parallel_line.h>
46
47//////////////////////////////////////////////////////////////////////////
48template <typename PointT> void
50 const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
51{
52 // Check if the model is valid given the user constraints
53 if (!isModelValid (model_coefficients))
54 {
55 inliers.clear ();
56 return;
57 }
58
59 SampleConsensusModelLine<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
60}
61
62//////////////////////////////////////////////////////////////////////////
63template <typename PointT> std::size_t
65 const Eigen::VectorXf &model_coefficients, const double threshold) const
66{
67 // Check if the model is valid given the user constraints
68 if (!isModelValid (model_coefficients))
69 {
70 return (0);
71 }
72
73 return (SampleConsensusModelLine<PointT>::countWithinDistance (model_coefficients, threshold));
74}
75
76//////////////////////////////////////////////////////////////////////////
77template <typename PointT> void
79 const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
80{
81 // Check if the model is valid given the user constraints
82 if (!isModelValid (model_coefficients))
83 {
84 distances.clear ();
85 return;
86 }
87
88 SampleConsensusModelLine<PointT>::getDistancesToModel (model_coefficients, distances);
89}
90
91//////////////////////////////////////////////////////////////////////////
92template <typename PointT> bool
93pcl::SampleConsensusModelParallelLine<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
94{
95 if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
96 return (false);
97
98 // Check against template, if given
99 if (eps_angle_ > 0.0)
100 {
101 // Obtain the line direction
102 Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0.0f);
103
104 Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0.0f);
105 double angle_diff = std::abs (getAngle3D (axis, line_dir));
106 angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
107 // Check whether the current line model satisfies our angle threshold criterion with respect to the given axis
108 if (angle_diff > eps_angle_)
109 {
110 PCL_DEBUG ("[pcl::SampleConsensusModelParallelLine::isModelValid] Angle between line direction and given axis is too large.\n");
111 return (false);
112 }
113 }
114
115 return (true);
116}
117
118#define PCL_INSTANTIATE_SampleConsensusModelParallelLine(T) template class PCL_EXPORTS pcl::SampleConsensusModelParallelLine<T>;
119
120#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_HPP_
121
SampleConsensusModel represents the base model class.
Definition: sac_model.h:70
SampleConsensusModelLine defines a model for 3D line segmentation.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
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.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all squared distances from the cloud data to a given line model.
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.
Define standard C methods and C++ classes that are common to all methods.
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.
Definition: common.hpp:47
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
#define M_PI
Definition: pcl_macros.h:201