41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_ 42 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_ 44 #include <pcl/sample_consensus/sac_model_line.h> 45 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h> 62 template <
typename Po
intT>
70 typedef boost::shared_ptr<SampleConsensusModelParallelLine>
Ptr;
90 const std::vector<int> &indices,
108 inline Eigen::Vector3f
127 const double threshold,
128 std::vector<int> &inliers);
138 const double threshold);
146 std::vector<double> &distances);
157 isModelValid (
const Eigen::VectorXf &model_coefficients);
168 #ifdef PCL_NO_PRECOMPILE 169 #include <pcl/sample_consensus/impl/sac_model_parallel_line.hpp> 172 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_ void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
SampleConsensusModelLine defines a model for 3D line segmentation.
SampleConsensusModelLine< PointT >::PointCloud PointCloud
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
double getEpsAngle()
Get the angle epsilon (delta) threshold.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
Compute all squared distances from the cloud data to a given line model.
virtual ~SampleConsensusModelParallelLine()
Empty destructor.
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.
SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...
SampleConsensusModelParallelLine(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelParallelLine.
Eigen::Vector3f getAxis()
Get the axis along which we need to search for a plane perpendicular to.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold)
Count all the points which respect the given model coefficients as inliers.
SampleConsensusModelLine< PointT >::PointCloudPtr PointCloudPtr
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_PARALLEL_LINE).
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
SampleConsensusModelLine< PointT >::PointCloudConstPtr PointCloudConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.
SampleConsensusModelParallelLine(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelLine.
double eps_angle_
The maximum allowed difference between the plane normal and the given axis.
boost::shared_ptr< SampleConsensusModelParallelLine > Ptr