PerpendicularPlaneFitting.h

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#pragma once
 
#include <Eigen/Core>
 
#include <pcl/PointIndices.h>
#include <pcl/common/angles.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
#include <VisionX/libraries/PointCloudTools/plane_fitting_ransac/plane_fitting_ransac.h>
 
namespace Eigen
{
    using Hyperplane3f = Hyperplane<float, 3>;
}
 
namespace visionx::tools
{
 
    class PerpendicularPlaneFitting
    {
    public:
        using PointT = pcl::PointXYZRGBA;
 
    public:
        double distanceThreshold = 1;
        Eigen::Vector3f normal = Eigen::Vector3f::UnitZ();
        double epsAngle = pcl::deg2rad(10.0);
 
        int maxIterations = 1000;
        double probability = 0.99;
 
 
        std::optional<PlaneFittingResult> fit(pcl::PointCloud<PointT>::ConstPtr input);
    };
 
 
} // namespace visionx::tools