Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_ 00042 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_ 00043 00044 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h> 00045 00046 ////////////////////////////////////////////////////////////////////////// 00047 template <typename PointT> void 00048 pcl::SampleConsensusModelPerpendicularPlane<PointT>::selectWithinDistance ( 00049 const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers) 00050 { 00051 // Check if the model is valid given the user constraints 00052 if (!isModelValid (model_coefficients)) 00053 { 00054 inliers.clear (); 00055 return; 00056 } 00057 00058 SampleConsensusModelPlane<PointT>::selectWithinDistance (model_coefficients, threshold, inliers); 00059 } 00060 00061 ////////////////////////////////////////////////////////////////////////// 00062 template <typename PointT> int 00063 pcl::SampleConsensusModelPerpendicularPlane<PointT>::countWithinDistance ( 00064 const Eigen::VectorXf &model_coefficients, const double threshold) 00065 { 00066 // Check if the model is valid given the user constraints 00067 if (!isModelValid (model_coefficients)) 00068 return (0); 00069 00070 return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold)); 00071 } 00072 00073 ////////////////////////////////////////////////////////////////////////// 00074 template <typename PointT> void 00075 pcl::SampleConsensusModelPerpendicularPlane<PointT>::getDistancesToModel ( 00076 const Eigen::VectorXf &model_coefficients, std::vector<double> &distances) 00077 { 00078 // Check if the model is valid given the user constraints 00079 if (!isModelValid (model_coefficients)) 00080 { 00081 distances.clear (); 00082 return; 00083 } 00084 00085 SampleConsensusModelPlane<PointT>::getDistancesToModel (model_coefficients, distances); 00086 } 00087 00088 ////////////////////////////////////////////////////////////////////////// 00089 template <typename PointT> bool 00090 pcl::SampleConsensusModelPerpendicularPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) 00091 { 00092 // Needs a valid model coefficients 00093 if (model_coefficients.size () != 4) 00094 { 00095 PCL_ERROR ("[pcl::SampleConsensusModelPerpendicularPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ()); 00096 return (false); 00097 } 00098 00099 // Check against template, if given 00100 if (eps_angle_ > 0.0) 00101 { 00102 // Obtain the plane normal 00103 Eigen::Vector4f coeff = model_coefficients; 00104 coeff[3] = 0; 00105 00106 Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0); 00107 double angle_diff = fabs (getAngle3D (axis, coeff)); 00108 angle_diff = (std::min) (angle_diff, M_PI - angle_diff); 00109 // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis 00110 if (angle_diff > eps_angle_) 00111 return (false); 00112 } 00113 00114 return (true); 00115 } 00116 00117 #define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>; 00118 00119 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_ 00120