sac_model_perpendicular_plane.hpp
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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
#include <pcl/common/common.h> // for getAngle3D
//////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SampleConsensusModelPerpendicularPlane<PointT>::selectWithinDistance (
const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers)
{
// Check if the model is valid given the user constraints
if (!isModelValid (model_coefficients))
{
inliers.clear ();
return;
}
SampleConsensusModelPlane<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
}
//////////////////////////////////////////////////////////////////////////
template <typename PointT> std::size_t
pcl::SampleConsensusModelPerpendicularPlane<PointT>::countWithinDistance (
const Eigen::VectorXf &model_coefficients, const double threshold) const
{
// Check if the model is valid given the user constraints
if (!isModelValid (model_coefficients))
{
return (0);
}
return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
}
//////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SampleConsensusModelPerpendicularPlane<PointT>::getDistancesToModel (
const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) const
{
// Check if the model is valid given the user constraints
if (!isModelValid (model_coefficients))
{
distances.clear ();
return;
}
SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances);
}
//////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::SampleConsensusModelPerpendicularPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
{
if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
{
return (false);
}
// Check against template, if given
if (eps_angle_ > 0.0)
{
// Obtain the plane normal
Eigen::Vector4f coeff = model_coefficients;
coeff[3] = 0.0f;
Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0.0f);
double angle_diff = std::abs (getAngle3D (axis, coeff));
angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
// Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
if (angle_diff > eps_angle_)
{
PCL_DEBUG ("[pcl::SampleConsensusModelPerpendicularPlane::isModelValid] Angle between plane normal and given axis should be smaller than %g, but is %g.\n",
eps_angle_, angle_diff);
return (false);
}
}
return (true);
}
#define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>;
#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition: sac_model.h:70
pcl::SampleConsensusModelPerpendicularPlane::getDistancesToModel
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.
Definition: sac_model_perpendicular_plane.hpp:78
pcl::SampleConsensusModelPerpendicularPlane::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition: sac_model_perpendicular_plane.hpp:93
pcl::SampleConsensusModelPerpendicularPlane::selectWithinDistance
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.
Definition: sac_model_perpendicular_plane.hpp:49
pcl::SampleConsensusModelPerpendicularPlane::countWithinDistance
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.
Definition: sac_model_perpendicular_plane.hpp:64
pcl::SampleConsensusModelPlane
SampleConsensusModelPlane defines a model for 3D plane segmentation.
Definition: sac_model_plane.h:143
common.h
Define standard C methods and C++ classes that are common to all methods.
pcl::getAngle3D
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
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
M_PI
#define M_PI
Definition: pcl_macros.h:201