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_plane.h 2326 2011-08-31 07:48:25Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_ 00041 #define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_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 { 00076 template <typename PointT, typename PointNT> 00077 class SampleConsensusModelNormalPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT> 00078 { 00079 using SampleConsensusModel<PointT>::input_; 00080 using SampleConsensusModel<PointT>::indices_; 00081 using SampleConsensusModelFromNormals<PointT, PointNT>::normals_; 00082 using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_; 00083 00084 public: 00085 00086 typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud; 00087 typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr; 00088 typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr; 00089 00090 typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr; 00091 typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr; 00092 00093 typedef boost::shared_ptr<SampleConsensusModelNormalPlane> Ptr; 00094 00098 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud) : SampleConsensusModelPlane<PointT> (cloud) 00099 { 00100 } 00101 00106 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModelPlane<PointT> (cloud, indices) 00107 { 00108 } 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_NORMAL_PLANE); } 00141 00142 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00143 00144 protected: 00148 bool 00149 isModelValid (const Eigen::VectorXf &model_coefficients); 00150 00151 }; 00152 } 00153 00154 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_