sac_model_normal_parallel_plane.h

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 * $Id: sac_model_normal_parallel_plane.h 4710 2012-02-23 17:51:24Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
#include <pcl/sample_consensus/model_types.h>

namespace pcl
{
  template <typename PointT, typename PointNT>
  class SampleConsensusModelNormalParallelPlane : public SampleConsensusModelPlane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normals_;
    using SampleConsensusModelFromNormals<PointT, PointNT>::normal_distance_weight_;

    public:

      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr PointCloudNPtr;
      typedef typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> Ptr;

      SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud) : 
        SampleConsensusModelPlane<PointT> (cloud),
        axis_ (Eigen::Vector4f::Zero ()),
        distance_from_origin_ (0),
        eps_angle_ (-1.0), cos_angle_ (-1.0), eps_dist_ (0.0)
      {
      }

      SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : 
        SampleConsensusModelPlane<PointT> (cloud, indices),
        axis_ (Eigen::Vector4f::Zero ()),
        distance_from_origin_ (0),
        eps_angle_ (-1.0), cos_angle_ (-1.0), eps_dist_ (0.0)
      {
      }

      inline void
      setAxis (const Eigen::Vector3f &ax) { axis_.head<3> () = ax; axis_.normalize ();}

      inline Eigen::Vector3f
      getAxis () { return (axis_.head<3> ()); }

      inline void
      setEpsAngle (const double ea) { eps_angle_ = ea; cos_angle_ = fabs (cos (ea));}

      inline double
      getEpsAngle () { return (eps_angle_); }

      inline void
      setDistanceFromOrigin (const double d) { distance_from_origin_ = d; }

      inline double
      getDistanceFromOrigin () { return (distance_from_origin_); }

      inline void
      setEpsDist (const double delta) { eps_dist_ = delta; }

      inline double
      getEpsDist () { return (eps_dist_); }

      void
      selectWithinDistance (const Eigen::VectorXf &model_coefficients,
                            const double threshold,
                            std::vector<int> &inliers);

      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients,
                           const double threshold);

      void
      getDistancesToModel (const Eigen::VectorXf &model_coefficients,
                           std::vector<double> &distances);

      inline pcl::SacModel
      getModelType () const { return (SACMODEL_NORMAL_PARALLEL_PLANE); }

      EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    protected:
      bool
      isModelValid (const Eigen::VectorXf &model_coefficients);

   private:
      Eigen::Vector4f axis_;

      double distance_from_origin_;

      double eps_angle_;

      double cos_angle_;
      double eps_dist_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_