Point Cloud Library (PCL) 1.13.1
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sac_model_perpendicular_plane.hpp
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40
41#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
42#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
43
44#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
45#include <pcl/common/common.h> // for getAngle3D
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 SampleConsensusModelPlane<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 (SampleConsensusModelPlane<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 SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances);
89}
90
91//////////////////////////////////////////////////////////////////////////
92template <typename PointT> bool
93pcl::SampleConsensusModelPerpendicularPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
94{
95 if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
96 {
97 return (false);
98 }
99
100 // Check against template, if given
101 if (eps_angle_ > 0.0)
102 {
103 // Obtain the plane normal
104 Eigen::Vector4f coeff = model_coefficients;
105 coeff[3] = 0.0f;
106
107 Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0.0f);
108 double angle_diff = std::abs (getAngle3D (axis, coeff));
109 angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
110 // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
111 if (angle_diff > eps_angle_)
112 {
113 PCL_DEBUG ("[pcl::SampleConsensusModelPerpendicularPlane::isModelValid] Angle between plane normal and given axis should be smaller than %g, but is %g.\n",
114 eps_angle_, angle_diff);
115 return (false);
116 }
117 }
118
119 return (true);
120}
121
122#define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>;
123
124#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
125
SampleConsensusModel represents the base model class.
Definition sac_model.h:70
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
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.
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.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
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