Point Cloud Library (PCL)  1.14.1-dev
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 //////////////////////////////////////////////////////////////////////////
48 template <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 //////////////////////////////////////////////////////////////////////////
63 template <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 //////////////////////////////////////////////////////////////////////////
77 template <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 //////////////////////////////////////////////////////////////////////////
92 template <typename PointT> bool
93 pcl::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:71
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:203