Point Cloud Library (PCL)  1.7.2
sac_model_normal_parallel_plane.hpp
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
43 
44 #include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
45 
46 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
47 template <typename PointT, typename PointNT> bool
49 {
50  // Needs a valid model coefficients
51  if (model_coefficients.size () != 4)
52  {
53  PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
54  return (false);
55  }
56 
57  // Check against template, if given
58  if (eps_angle_ > 0.0)
59  {
60  // Obtain the plane normal
61  Eigen::Vector4f coeff = model_coefficients;
62  coeff[3] = 0;
63  coeff.normalize ();
64 
65  if (fabs (axis_.dot (coeff)) < cos_angle_)
66  return (false);
67  }
68 
69  if (eps_dist_ > 0.0)
70  {
71  if (fabs (-model_coefficients[3] - distance_from_origin_) > eps_dist_)
72  return (false);
73  }
74 
75  return (true);
76 }
77 
78 #define PCL_INSTANTIATE_SampleConsensusModelNormalParallelPlane(PointT, PointNT) template class PCL_EXPORTS pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>;
79 
80 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_NORMAL_PARALLEL_PLANE_H_
81 
82 
bool isModelValid(const Eigen::VectorXf &model_coefficients)
Check whether a model is valid given the user constraints.