41#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
42#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_
44#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
48template <
typename Po
intT>
void
63template <
typename Po
intT> std::size_t
77template <
typename Po
intT>
void
92template <
typename Po
intT>
bool
101 if (eps_angle_ > 0.0)
107 Eigen::Vector4f
axis (axis_[0], axis_[1], axis_[2], 0.0f);
113 PCL_DEBUG (
"[pcl::SampleConsensusModelPerpendicularPlane::isModelValid] Angle between plane normal and given axis should be smaller than %g, but is %g.\n",
122#define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>;
Iterator class for point clouds with or without given indices.
SampleConsensusModel represents the base model class.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
Define standard C methods and C++ classes that are common to all methods.
double getAngle3D(const Eigen::Vector4f &v1, const Eigen::Vector4f &v2, const bool in_degree=false)
Compute the smallest angle between two 3D vectors in radians (default) or degree.
IndicesAllocator<> Indices
Type used for indices in PCL.