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>
47 template <
typename Po
intT>
void
49 const Eigen::VectorXf &model_coefficients,
const double threshold, std::vector<int> &inliers)
52 if (!isModelValid (model_coefficients))
62 template <
typename Po
intT>
int
64 const Eigen::VectorXf &model_coefficients,
const double threshold)
const
67 if (!isModelValid (model_coefficients))
74 template <
typename Po
intT>
void
76 const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
const
79 if (!isModelValid (model_coefficients))
89 template <
typename Po
intT>
bool
99 Eigen::Vector4f coeff = model_coefficients;
102 Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
103 double angle_diff = fabs (
getAngle3D (axis, coeff));
104 angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
106 if (angle_diff > eps_angle_)
113 #define PCL_INSTANTIATE_SampleConsensusModelPerpendicularPlane(T) template class PCL_EXPORTS pcl::SampleConsensusModelPerpendicularPlane<T>;
115 #endif // PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_PERPENDICULAR_PLANE_H_