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_plane.h 2326 2011-08-31 07:48:25Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_ 00042 00043 #include <pcl/sample_consensus/sac_model_plane.h> 00044 #include <pcl/common/common.h> 00045 00046 namespace pcl 00047 { 00064 template <typename PointT> 00065 class SampleConsensusModelParallelPlane : public SampleConsensusModelPlane<PointT> 00066 { 00067 public: 00068 typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud; 00069 typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr; 00070 typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr; 00071 00072 typedef boost::shared_ptr<SampleConsensusModelParallelPlane> Ptr; 00073 00077 SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud), 00078 eps_angle_ (0.0) 00079 { 00080 axis_.setZero (); 00081 } 00082 00087 SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices), 00088 eps_angle_ (0.0) 00089 { 00090 axis_.setZero (); 00091 } 00092 00096 inline void 00097 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; } 00098 00100 inline Eigen::Vector3f 00101 getAxis () { return (axis_); } 00102 00107 inline void 00108 setEpsAngle (const double ea) { eps_angle_ = ea; } 00109 00111 inline double 00112 getEpsAngle () { return (eps_angle_); } 00113 00119 void 00120 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00121 const double threshold, 00122 std::vector<int> &inliers); 00123 00130 virtual int 00131 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00132 const double threshold); 00133 00138 void 00139 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00140 std::vector<double> &distances); 00141 00143 inline pcl::SacModel 00144 getModelType () const { return (SACMODEL_PARALLEL_PLANE); } 00145 00146 protected: 00150 bool 00151 isModelValid (const Eigen::VectorXf &model_coefficients); 00152 00154 Eigen::Vector3f axis_; 00155 00157 double eps_angle_; 00158 }; 00159 } 00160 00161 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_