Point Cloud Library (PCL)  1.7.0
sac_model_parallel_line.hpp
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_
43 
44 #include <pcl/sample_consensus/sac_model_parallel_line.h>
45 
46 //////////////////////////////////////////////////////////////////////////
47 template <typename PointT> void
49  const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers)
50 {
51  // Check if the model is valid given the user constraints
52  if (!isModelValid (model_coefficients))
53  {
54  inliers.clear ();
55  return;
56  }
57 
58  SampleConsensusModelLine<PointT>::selectWithinDistance (model_coefficients, threshold, inliers);
59 }
60 
61 //////////////////////////////////////////////////////////////////////////
62 template <typename PointT> int
64  const Eigen::VectorXf &model_coefficients, const double threshold)
65 {
66  // Check if the model is valid given the user constraints
67  if (!isModelValid (model_coefficients))
68  return (0);
69 
70  return (SampleConsensusModelLine<PointT>::countWithinDistance (model_coefficients, threshold));
71 }
72 
73 //////////////////////////////////////////////////////////////////////////
74 template <typename PointT> void
76  const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
77 {
78  // Check if the model is valid given the user constraints
79  if (!isModelValid (model_coefficients))
80  {
81  distances.clear ();
82  return;
83  }
84 
85  SampleConsensusModelLine<PointT>::getDistancesToModel (model_coefficients, distances);
86 }
87 
88 //////////////////////////////////////////////////////////////////////////
89 template <typename PointT> bool
90 pcl::SampleConsensusModelParallelLine<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients)
91 {
92  // Needs a valid model coefficients
93  if (model_coefficients.size () != 6)
94  {
95  PCL_ERROR ("[pcl::SampleConsensusParallelLine::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
96  return (false);
97  }
98 
99  // Check against template, if given
100  if (eps_angle_ > 0.0)
101  {
102  // Obtain the line direction
103  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);
104 
105  Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
106  double angle_diff = fabs (getAngle3D (axis, line_dir));
107  //angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
108  angle_diff = fabs (angle_diff - (M_PI/2.0));
109  // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
110  if (angle_diff > eps_angle_)
111  return (false);
112  }
113 
114  return (true);
115 }
116 
117 #define PCL_INSTANTIATE_SampleConsensusModelParallelLine(T) template class PCL_EXPORTS pcl::SampleConsensusModelParallelLine<T>;
118 
119 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PARALLEL_LINE_H_
120 
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2)
Compute the smallest angle between two vectors in the [ 0, PI ) interval in 3D.
Definition: common.hpp:46
SampleConsensusModelLine defines a model for 3D line segmentation.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
Compute all squared distances from the cloud data to a given line model.
bool isModelValid(const Eigen::VectorXf &model_coefficients)
Check whether a model is valid given the user constraints.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
Select all the points which respect the given model coefficients as inliers.
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold)
Count all the points which respect the given model coefficients as inliers.