sac_model_parallel_plane.h

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 * $Id: sac_model_parallel_plane.h 6144 2012-07-04 22:06:28Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_

#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/common/common.h>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelParallelPlane : public SampleConsensusModelPlane<PointT>
  {
    public:
      typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelParallelPlane> Ptr;

      SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud) : 
        SampleConsensusModelPlane<PointT> (cloud),
        axis_ (Eigen::Vector3f::Zero ()),
        eps_angle_ (0.0), sin_angle_ (-1.0)
      {
      }

      SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : 
        SampleConsensusModelPlane<PointT> (cloud, indices),
        axis_ (Eigen::Vector3f::Zero ()),
        eps_angle_ (0.0), sin_angle_ (-1.0)
      {
      }

      inline void
      setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }

      inline Eigen::Vector3f
      getAxis ()  { return (axis_); }

      inline void
      setEpsAngle (const double ea) { eps_angle_ = ea; sin_angle_ = fabs (sin (ea));}

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

      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_PARALLEL_PLANE); }

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

      Eigen::Vector3f axis_;

      double eps_angle_;

      double sin_angle_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_