Point Cloud Library (PCL)  1.11.0-dev
sac_model_normal_parallel_plane.hpp
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
43 
44 #include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
45 
46 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
47 template <typename PointT, typename PointNT> bool
48 pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
49 {
50  if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
51  return (false);
52 
53  // Check against template, if given
54  if (eps_angle_ > 0.0)
55  {
56  // Obtain the plane normal
57  Eigen::Vector4f coeff = model_coefficients;
58  coeff[3] = 0.0f;
59  coeff.normalize ();
60 
61  if (std::abs (axis_.dot (coeff)) < cos_angle_)
62  return (false);
63  }
64 
65  if (eps_dist_ > 0.0)
66  {
67  if (std::abs (-model_coefficients[3] - distance_from_origin_) > eps_dist_)
68  return (false);
69  }
70 
71  return (true);
72 }
73 
74 #define PCL_INSTANTIATE_SampleConsensusModelNormalParallelPlane(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>;
75 
76 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
77 
78 
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition: sac_model.h:70
pcl::SampleConsensusModelNormalParallelPlane::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition: sac_model_normal_parallel_plane.hpp:48