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 * $Id: sac_model_parallel_line.h 4710 2012-02-23 17:51:24Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_

#include <pcl/sample_consensus/sac_model_line.h>
#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>

namespace pcl
{
  /** \brief SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular
    * constraints.
    * The model coefficients are defined as:
    *   - \b point_on_line.x  : the X coordinate of a point on the line
    *   - \b point_on_line.y  : the Y coordinate of a point on the line
    *   - \b point_on_line.z  : the Z coordinate of a point on the line
    *   - \b line_direction.x : the X coordinate of a line's direction
    *   - \b line_direction.y : the Y coordinate of a line's direction
    *   - \b line_direction.z : the Z coordinate of a line's direction
    * 
    * \author Radu B. Rusu
    * \ingroup sample_consensus
    */
  template <typename PointT>
  class SampleConsensusModelParallelLine : public SampleConsensusModelLine<PointT>
  {
    public:
      typedef typename SampleConsensusModelLine<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModelLine<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModelLine<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelParallelLine> Ptr;

      /** \brief Constructor for base SampleConsensusModelParallelLine.
        * \param[in] cloud the input point cloud dataset
        */
      SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud) : 
        SampleConsensusModelLine<PointT> (cloud),
        axis_ (Eigen::Vector3f::Zero ()),
        eps_angle_ (0.0)
      {
      }

      /** \brief Constructor for base SampleConsensusModelParallelLine.
        * \param[in] cloud the input point cloud dataset
        * \param[in] indices a vector of point indices to be used from \a cloud
        */
      SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, const std::vector<int> &indices) : 
        SampleConsensusModelLine<PointT> (cloud, indices),
        axis_ (Eigen::Vector3f::Zero ()),
        eps_angle_ (0.0)
      {
      }

      /** \brief Set the axis along which we need to search for a plane perpendicular to.
        * \param[in] ax the axis along which we need to search for a plane perpendicular to
        */
      inline void 
      setAxis (const Eigen::Vector3f &ax) { axis_ = ax; axis_.normalize (); }

      /** \brief Get the axis along which we need to search for a plane perpendicular to. */
      inline Eigen::Vector3f 
      getAxis ()  { return (axis_); }

      /** \brief Set the angle epsilon (delta) threshold.
        * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
        */
      inline void 
      setEpsAngle (const double ea) { eps_angle_ = ea; }

      /** \brief Get the angle epsilon (delta) threshold. */
      inline double getEpsAngle () { return (eps_angle_); }

      /** \brief Select all the points which respect the given model coefficients as inliers.
        * \param[in] model_coefficients the coefficients of a line model that we need to compute distances to
        * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
        * \param[out] inliers the resultant model inliers
        */
      void 
      selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
                            const double threshold, 
                            std::vector<int> &inliers);

      /** \brief Count all the points which respect the given model coefficients as inliers. 
        * 
        * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
        * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
        * \return the resultant number of inliers
        */
      virtual int
      countWithinDistance (const Eigen::VectorXf &model_coefficients, 
                           const double threshold);

      /** \brief Compute all squared distances from the cloud data to a given line model.
        * \param[in] model_coefficients the coefficients of a line model that we need to compute distances to
        * \param[out] distances the resultant estimated squared distances
        */
      void 
      getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
                           std::vector<double> &distances);

      /** \brief Return an unique id for this model (SACMODEL_PARALLEL_LINE). */
      inline pcl::SacModel 
      getModelType () const { return (SACMODEL_PARALLEL_LINE); }

    protected:
      /** \brief Check whether a model is valid given the user constraints.
        * \param[in] model_coefficients the set of model coefficients
        */
      bool 
      isModelValid (const Eigen::VectorXf &model_coefficients);

    protected:
      /** \brief The axis along which we need to search for a plane perpendicular to. */
      Eigen::Vector3f axis_;

      /** \brief The maximum allowed difference between the plane normal and the given axis. */
      double eps_angle_;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELLINE_H_
