Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h
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00040 
00041 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
00042 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
00043 
00044 #include <pcl/sample_consensus/sac_model_plane.h>
00045 #include <pcl/common/common.h>
00046 
00047 namespace pcl
00048 {
00049   /** \brief @b SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional
00050     * angular constraints. The plane must be parallel to a user-specified axis
00051     * (\ref setAxis) within an user-specified angle threshold (\ref setEpsAngle).
00052     *
00053     * Code example for a plane model, parallel (within a 15 degrees tolerance) with the Z axis:
00054     * \code
00055     * SampleConsensusModelParallelPlane<pcl::PointXYZ> model (cloud);
00056     * model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
00057     * model.setEpsAngle (pcl::deg2rad (15));
00058     * \endcode
00059     *
00060     * \note Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!
00061     *
00062     * \author Radu B. Rusu, Nico Blodow
00063     * \ingroup sample_consensus
00064     */
00065   template <typename PointT>
00066   class SampleConsensusModelParallelPlane : public SampleConsensusModelPlane<PointT>
00067   {
00068     public:
00069       typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud;
00070       typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr;
00071       typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr;
00072 
00073       typedef boost::shared_ptr<SampleConsensusModelParallelPlane> Ptr;
00074 
00075       /** \brief Constructor for base SampleConsensusModelParallelPlane.
00076         * \param[in] cloud the input point cloud dataset
00077         * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
00078         */
00079       SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud,
00080                                          bool random = false) 
00081         : SampleConsensusModelPlane<PointT> (cloud, random)
00082         , axis_ (Eigen::Vector3f::Zero ())
00083         , eps_angle_ (0.0)
00084         , sin_angle_ (-1.0)
00085       {
00086       }
00087 
00088       /** \brief Constructor for base SampleConsensusModelParallelPlane.
00089         * \param[in] cloud the input point cloud dataset
00090         * \param[in] indices a vector of point indices to be used from \a cloud
00091         * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
00092         */
00093       SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud, 
00094                                          const std::vector<int> &indices,
00095                                          bool random = false) 
00096         : SampleConsensusModelPlane<PointT> (cloud, indices, random)
00097         , axis_ (Eigen::Vector3f::Zero ())
00098         , eps_angle_ (0.0)
00099         , sin_angle_ (-1.0)
00100       {
00101       }
00102       
00103       /** \brief Empty destructor */
00104       virtual ~SampleConsensusModelParallelPlane () {}
00105 
00106       /** \brief Set the axis along which we need to search for a plane perpendicular to.
00107         * \param[in] ax the axis along which we need to search for a plane perpendicular to
00108         */
00109       inline void
00110       setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
00111 
00112       /** \brief Get the axis along which we need to search for a plane perpendicular to. */
00113       inline Eigen::Vector3f
00114       getAxis ()  { return (axis_); }
00115 
00116       /** \brief Set the angle epsilon (delta) threshold.
00117         * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
00118         * \note You need to specify an angle > 0 in order to activate the axis-angle constraint!
00119         */
00120       inline void
00121       setEpsAngle (const double ea) { eps_angle_ = ea; sin_angle_ = fabs (sin (ea));}
00122 
00123       /** \brief Get the angle epsilon (delta) threshold. */
00124       inline double
00125       getEpsAngle () { return (eps_angle_); }
00126 
00127       /** \brief Select all the points which respect the given model coefficients as inliers.
00128         * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
00129         * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
00130         * \param[out] inliers the resultant model inliers
00131         */
00132       void
00133       selectWithinDistance (const Eigen::VectorXf &model_coefficients,
00134                             const double threshold,
00135                             std::vector<int> &inliers);
00136 
00137       /** \brief Count all the points which respect the given model coefficients as inliers.
00138         *
00139         * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
00140         * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
00141         * \return the resultant number of inliers
00142         */
00143       virtual int
00144       countWithinDistance (const Eigen::VectorXf &model_coefficients,
00145                            const double threshold);
00146 
00147       /** \brief Compute all distances from the cloud data to a given plane model.
00148         * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
00149         * \param[out] distances the resultant estimated distances
00150         */
00151       void
00152       getDistancesToModel (const Eigen::VectorXf &model_coefficients,
00153                            std::vector<double> &distances);
00154 
00155       /** \brief Return an unique id for this model (SACMODEL_PARALLEL_PLANE). */
00156       inline pcl::SacModel
00157       getModelType () const { return (SACMODEL_PARALLEL_PLANE); }
00158 
00159     protected:
00160       /** \brief Check whether a model is valid given the user constraints.
00161         * \param[in] model_coefficients the set of model coefficients
00162         */
00163       bool
00164       isModelValid (const Eigen::VectorXf &model_coefficients);
00165 
00166       /** \brief The axis along which we need to search for a plane perpendicular to. */
00167       Eigen::Vector3f axis_;
00168 
00169       /** \brief The maximum allowed difference between the plane and the given axis. */
00170       double eps_angle_;
00171 
00172       /** \brief The sine of the angle*/
00173       double sin_angle_;
00174   };
00175 }
00176 
00177 #ifdef PCL_NO_PRECOMPILE
00178 #include <pcl/sample_consensus/impl/sac_model_parallel_plane.hpp>
00179 #endif
00180 
00181 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_