sac_model_plane.h

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 * $Id: sac_model_plane.h 4915 2012-03-05 17:31:53Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_

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

namespace pcl
{

  template <typename Point> inline void
  projectPoint (const Point &p, const Eigen::Vector4f &model_coefficients, Point &q)
  {
    // Calculate the distance from the point to the plane
    Eigen::Vector4f pp (p.x, p.y, p.z, 1);
    // use normalized coefficients to calculate the scalar projection 
    float distance_to_plane = pp.dot(model_coefficients);


    //TODO: Why doesn't getVector4Map work here?
    //Eigen::Vector4f q_e = q.getVector4fMap ();
    //q_e = pp - model_coefficients * distance_to_plane;
    
    Eigen::Vector4f q_e = pp - distance_to_plane * model_coefficients;
    q.x = q_e[0];
    q.y = q_e[1];
    q.z = q_e[2];
  }

  template <typename Point> inline double
  pointToPlaneDistanceSigned (const Point &p, double a, double b, double c, double d)
  {
    return (a * p.x + b * p.y + c * p.z + d);
  }

  template <typename Point> inline double
  pointToPlaneDistanceSigned (const Point &p, const Eigen::Vector4f &plane_coefficients)
  {
    return ( plane_coefficients[0] * p.x + plane_coefficients[1] * p.y + plane_coefficients[2] * p.z + plane_coefficients[3] );
  }

  template <typename Point> inline double
  pointToPlaneDistance (const Point &p, double a, double b, double c, double d)
  {
    return (fabs (pointToPlaneDistanceSigned (p, a, b, c, d)) );
  }

  template <typename Point> inline double
  pointToPlaneDistance (const Point &p, const Eigen::Vector4f &plane_coefficients)
  {
    return ( fabs (pointToPlaneDistanceSigned (p, plane_coefficients)) );
  }


  template <typename PointT>
  class SampleConsensusModelPlane : public SampleConsensusModel<PointT>
  {
    public:
      using SampleConsensusModel<PointT>::input_;
      using SampleConsensusModel<PointT>::indices_;

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

      typedef boost::shared_ptr<SampleConsensusModelPlane> Ptr;

      SampleConsensusModelPlane (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud) {};

      SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : SampleConsensusModel<PointT> (cloud, indices) {};

      bool 
      computeModelCoefficients (const std::vector<int> &samples, 
                                Eigen::VectorXf &model_coefficients);

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

      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 
      optimizeModelCoefficients (const std::vector<int> &inliers, 
                                 const Eigen::VectorXf &model_coefficients, 
                                 Eigen::VectorXf &optimized_coefficients);

      void 
      projectPoints (const std::vector<int> &inliers, 
                     const Eigen::VectorXf &model_coefficients, 
                     PointCloud &projected_points, 
                     bool copy_data_fields = true);

      bool 
      doSamplesVerifyModel (const std::set<int> &indices, 
                            const Eigen::VectorXf &model_coefficients, 
                            const double threshold);

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

    protected:
      inline bool 
      isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        // Needs a valid model coefficients
        if (model_coefficients.size () != 4)
        {
          PCL_ERROR ("[pcl::SampleConsensusModelPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
          return (false);
        }
        return (true);
      }

    private:
      virtual bool
      isSampleGood (const std::vector<int> &samples) const;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_