41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_
44 #include <pcl/sample_consensus/sac_model.h>
45 #include <pcl/sample_consensus/model_types.h>
55 template <
typename Po
int>
inline void
56 projectPoint (
const Point &p,
const Eigen::Vector4f &model_coefficients, Point &q)
59 Eigen::Vector4f pp (p.x, p.y, p.z, 1);
61 float distance_to_plane = pp.dot(model_coefficients);
68 Eigen::Vector4f q_e = pp - distance_to_plane * model_coefficients;
82 template <
typename Po
int>
inline double
85 return (a * p.x + b * p.y + c * p.z + d);
93 template <
typename Po
int>
inline double
96 return ( plane_coefficients[0] * p.x + plane_coefficients[1] * p.y + plane_coefficients[2] * p.z + plane_coefficients[3] );
107 template <
typename Po
int>
inline double
118 template <
typename Po
int>
inline double
135 template <
typename Po
intT>
147 typedef boost::shared_ptr<SampleConsensusModelPlane>
Ptr;
162 const std::vector<int> &indices,
177 Eigen::VectorXf &model_coefficients);
185 std::vector<double> &distances);
194 const double threshold,
195 std::vector<int> &inliers);
205 const double threshold);
215 const Eigen::VectorXf &model_coefficients,
216 Eigen::VectorXf &optimized_coefficients);
226 const Eigen::VectorXf &model_coefficients,
228 bool copy_data_fields =
true);
237 const Eigen::VectorXf &model_coefficients,
238 const double threshold);
252 if (model_coefficients.size () != 4)
254 PCL_ERROR (
"[pcl::SampleConsensusModelPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
266 isSampleGood (
const std::vector<int> &samples)
const;
270 #ifdef PCL_NO_PRECOMPILE
271 #include <pcl/sample_consensus/impl/sac_model_plane.hpp>
274 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PLANE_H_