Point Cloud Library (PCL)
1.7.0
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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_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_