pcl::SampleConsensusModelPerpendicularPlane< PointT > Class Template Reference

SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints. The plane must be perpendicular to a user-specified axis, up to a user-specified angle threshold. More...

#include <sac_model_perpendicular_plane.h>

Inheritance diagram for pcl::SampleConsensusModelPerpendicularPlane< PointT >:
Inheritance graph
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List of all members.

Public Types

typedef
SampleConsensusModelPlane
< PointT >::PointCloud 
PointCloud
typedef
SampleConsensusModelPlane
< PointT >::PointCloudConstPtr 
PointCloudConstPtr
typedef
SampleConsensusModelPlane
< PointT >::PointCloudPtr 
PointCloudPtr
typedef boost::shared_ptr
< SampleConsensusModelPerpendicularPlane
Ptr

Public Member Functions

Eigen::Vector3f getAxis ()
 Get the axis along which we need to search for a plane perpendicular to.
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
 Compute all distances from the cloud data to a given plane model.
double getEpsAngle ()
 Get the angle epsilon (delta) threshold.
pcl::SacModel getModelType () const
 Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
 Constructor for base SampleConsensusModelPerpendicularPlane.
 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud)
 Constructor for base SampleConsensusModelPerpendicularPlane.
void selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector< int > &inliers)
 Select all the points which respect the given model coefficients as inliers.
void setAxis (const Eigen::Vector3f &ax)
 Set the axis along which we need to search for a plane perpendicular to.
void setEpsAngle (double ea)
 Set the angle epsilon (delta) threshold.

Protected Member Functions

bool isModelValid (const Eigen::VectorXf &model_coefficients)
 Check whether a model is valid given the user constraints.

Protected Attributes

Eigen::Vector3f axis_
 The axis along which we need to search for a plane perpendicular to.
double eps_angle_
 The maximum allowed difference between the plane normal and the given axis.

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelPerpendicularPlane< PointT >

SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints. The plane must be perpendicular to a user-specified axis, up to a user-specified angle threshold.

Author:
Radu Bogdan Rusu

Definition at line 54 of file sac_model_perpendicular_plane.h.


Member Typedef Documentation

template<typename PointT>
typedef SampleConsensusModelPlane<PointT>::PointCloud pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 57 of file sac_model_perpendicular_plane.h.

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 59 of file sac_model_perpendicular_plane.h.

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 58 of file sac_model_perpendicular_plane.h.

template<typename PointT>
typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> pcl::SampleConsensusModelPerpendicularPlane< PointT >::Ptr

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 61 of file sac_model_perpendicular_plane.h.


Constructor & Destructor Documentation

template<typename PointT>
pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane ( const PointCloudConstPtr cloud  )  [inline]

Constructor for base SampleConsensusModelPerpendicularPlane.

Parameters:
cloud the input point cloud dataset

Definition at line 66 of file sac_model_perpendicular_plane.h.

template<typename PointT>
pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices 
) [inline]

Constructor for base SampleConsensusModelPerpendicularPlane.

Parameters:
cloud the input point cloud dataset
indices a vector of point indices to be used from cloud

Definition at line 76 of file sac_model_perpendicular_plane.h.


Member Function Documentation

template<typename PointT>
Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane< PointT >::getAxis (  )  [inline]

Get the axis along which we need to search for a plane perpendicular to.

Definition at line 88 of file sac_model_perpendicular_plane.h.

template<typename PointT >
void pcl::SampleConsensusModelPerpendicularPlane< PointT >::getDistancesToModel ( const Eigen::VectorXf &  model_coefficients,
std::vector< double > &  distances 
) [inline, virtual]

Compute all distances from the cloud data to a given plane model.

Parameters:
model_coefficients the coefficients of a plane model that we need to compute distances to
distances the resultant estimated distances

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 60 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>
double pcl::SampleConsensusModelPerpendicularPlane< PointT >::getEpsAngle (  )  [inline]

Get the angle epsilon (delta) threshold.

Definition at line 96 of file sac_model_perpendicular_plane.h.

template<typename PointT>
pcl::SacModel pcl::SampleConsensusModelPerpendicularPlane< PointT >::getModelType (  )  const [inline, virtual]

Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 112 of file sac_model_perpendicular_plane.h.

template<typename PointT >
bool pcl::SampleConsensusModelPerpendicularPlane< PointT >::isModelValid ( const Eigen::VectorXf &  model_coefficients  )  [inline, protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:
model_coefficients the set of model coefficients

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 75 of file sac_model_perpendicular_plane.hpp.

template<typename PointT >
void pcl::SampleConsensusModelPerpendicularPlane< PointT >::selectWithinDistance ( const Eigen::VectorXf &  model_coefficients,
double  threshold,
std::vector< int > &  inliers 
) [inline, virtual]

Select all the points which respect the given model coefficients as inliers.

Parameters:
model_coefficients the coefficients of a plane model that we need to compute distances to
inliers the resultant model inliers
threshold a maximum admissible distance threshold for determining the inliers from the outliers

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 45 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>
void pcl::SampleConsensusModelPerpendicularPlane< PointT >::setAxis ( const Eigen::Vector3f &  ax  )  [inline]

Set the axis along which we need to search for a plane perpendicular to.

Parameters:
ax the axis along which we need to search for a plane perpendicular to

Definition at line 85 of file sac_model_perpendicular_plane.h.

template<typename PointT>
void pcl::SampleConsensusModelPerpendicularPlane< PointT >::setEpsAngle ( double  ea  )  [inline]

Set the angle epsilon (delta) threshold.

Parameters:
ea the maximum allowed difference between the plane normal and the given axis.

Definition at line 93 of file sac_model_perpendicular_plane.h.


Member Data Documentation

template<typename PointT>
Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane< PointT >::axis_ [protected]

The axis along which we need to search for a plane perpendicular to.

Definition at line 121 of file sac_model_perpendicular_plane.h.

template<typename PointT>
double pcl::SampleConsensusModelPerpendicularPlane< PointT >::eps_angle_ [protected]

The maximum allowed difference between the plane normal and the given axis.

Definition at line 124 of file sac_model_perpendicular_plane.h.


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pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:57:22 2013