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Is it because cosine of the angle gets smaller as the angle gets larger? If angular threshold is 5° and coeff angle is 7°, return false, if coeff angle is 3°, don't return false.
7 > 5, cos(7°) < cos(5°).
3 < 5, cos(3°) > cos(5°).
Documentation for SAC MODEL NORMAL PEARALLEL PLANE is clear "... In
addition, the plane normal must lie parallel to an user-specified axis."
So computed plane normal and user defined axis should be parallel within
defined treshold .
Take a look at the code:
if (fabs (axis_.dot (coeff)) < cos_angle_)
return (false);
axis_.dot(coeff) is cosinus (angle between plane normal and user defined
axis).
cos_angle_ is cosinus ( defined treshold).
If axis_.dot(coeff) should be inside treshold then why is code returning
FALSE?
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