sac_model_normal_parallel_plane.hpp
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#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients)
{
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Check against template, if given
if (eps_angle_ > 0.0)
{
// Obtain the plane normal
Eigen::Vector4f coeff = model_coefficients;
coeff[3] = 0;
coeff.normalize ();
if (fabs (axis_.dot (coeff)) < cos_angle_)
return (false);
}
if (eps_dist_ > 0.0)
{
if (fabs (-model_coefficients[3] - distance_from_origin_) > eps_dist_)
return (false);
}
return (true);
}
#define PCL_INSTANTIATE_SampleConsensusModelNormalParallelPlane(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>;
#endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
pcl::SampleConsensusModelNormalParallelPlane::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients)
Check whether a model is valid given the user constraints.
Definition: sac_model_normal_parallel_plane.hpp:48