pcl::SampleConsensusModelFromNormals< PointT, PointNT > Class Template Reference

SampleConsensusModelFromNormals represents the base model class for models that require the use of surface normals for estimation. More...

#include <sac_model.h>

Inheritance diagram for pcl::SampleConsensusModelFromNormals< PointT, PointNT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const SampleConsensusModelFromNormals >	ConstPtr
typedef pcl::PointCloud < PointNT >::ConstPtr	PointCloudNConstPtr
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudNPtr
typedef boost::shared_ptr < SampleConsensusModelFromNormals >	Ptr
Public Member Functions
PointCloudNConstPtr	getInputNormals ()
	Get a pointer to the normals of the input XYZ point cloud dataset.
double	getNormalDistanceWeight ()
	Get the normal angular distance weight.
	SampleConsensusModelFromNormals ()
	Empty constructor for base SampleConsensusModelFromNormals.
void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
void	setNormalDistanceWeight (double w)
	Set the normal angular distance weight.
Protected Attributes
double	normal_distance_weight_
	The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset.

---

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelFromNormals< PointT, PointNT >

SampleConsensusModelFromNormals represents the base model class for models that require the use of surface normals for estimation.

Definition at line 292 of file sac_model.h.

---

Member Typedef Documentation

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<const SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::ConstPtr

Definition at line 299 of file sac_model.h.

template<typename PointT, typename PointNT>

typedef pcl::PointCloud<PointNT>::ConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 295 of file sac_model.h.

template<typename PointT, typename PointNT>

typedef pcl::PointCloud<PointNT>::Ptr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 296 of file sac_model.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::Ptr

Reimplemented in pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 298 of file sac_model.h.

---

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelFromNormals< PointT, PointNT >::SampleConsensusModelFromNormals

(

)

[inline]

Empty constructor for base SampleConsensusModelFromNormals.

Definition at line 302 of file sac_model.h.

---

Member Function Documentation

template<typename PointT, typename PointNT>

PointCloudNConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getInputNormals

(

)

[inline]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 326 of file sac_model.h.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getNormalDistanceWeight

(

)

[inline]

Get the normal angular distance weight.

Definition at line 314 of file sac_model.h.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setInputNormals

(

const PointCloudNConstPtr &

normals

)

[inline]

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

Parameters:

normals

the const boost shared pointer to a PointCloud message

Definition at line 322 of file sac_model.h.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setNormalDistanceWeight

(

double

w

)

[inline]

Set the normal angular distance weight.

Parameters:

w

the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. (The Euclidean distance will have weight 1-w.)

Definition at line 310 of file sac_model.h.

---

Member Data Documentation

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normal_distance_weight_ [protected]

The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.

Definition at line 332 of file sac_model.h.

template<typename PointT, typename PointNT>

PointCloudNConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_ [protected]

A pointer to the input dataset that contains the point normals of the XYZ dataset.

Definition at line 337 of file sac_model.h.

---

The documentation for this class was generated from the following file:

• sac_model.h