41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_ 42 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_ 44 #include <pcl/sample_consensus/sac_model_line.h> 65 template <
typename Po
intT>
75 typedef boost::shared_ptr<SampleConsensusModelParallelLine>
Ptr;
98 const std::vector<int> &indices,
119 inline Eigen::Vector3f
138 const double threshold,
139 std::vector<int> &inliers);
149 const double threshold)
const;
157 std::vector<double> &distances)
const;
171 isModelValid (
const Eigen::VectorXf &model_coefficients)
const;
181 #ifdef PCL_NO_PRECOMPILE 182 #include <pcl/sample_consensus/impl/sac_model_parallel_line.hpp> 185 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_ void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
SampleConsensusModelLine defines a model for 3D line segmentation.
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a line.
SampleConsensusModelLine< PointT >::PointCloud PointCloud
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
This file defines compatibility wrappers for low level I/O functions.
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_PARALLEL_LINE).
unsigned int model_size_
The number of coefficients in the model.
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
virtual ~SampleConsensusModelParallelLine()
Empty destructor.
virtual bool isModelValid(const Eigen::VectorXf &model_coefficients) const
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.
SampleConsensusModel represents the base model class.
SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...
std::string model_name_
The model name.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const
Compute all squared distances from the cloud data to a given line model.
SampleConsensusModelParallelLine(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelParallelLine.
PointCloud represents the base class in PCL for storing collections of 3D points.
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
SampleConsensusModelLine< PointT >::PointCloudPtr PointCloudPtr
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const
Count all the points which respect the given model coefficients as inliers.
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a line.
Eigen::Vector3f axis_
The axis along which we need to search for a line.
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 line direction and the given axis.
double getEpsAngle() const
Get the angle epsilon (delta) threshold (in radians).
boost::shared_ptr< SampleConsensusModelParallelLine > Ptr
unsigned int sample_size_
The size of a sample from which the model is computed.