sample_consensus::SACModelNormalPlane Class Reference

A Sample Consensus Model class for normal 3D plane segmentation. More...

#include <sac_model_normal_plane.h>

Inheritance diagram for sample_consensus::SACModelNormalPlane:

Public Member Functions
virtual void	getDistancesToModel (const std::vector< double > &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given plane model.
virtual int	getModelType ()
	Return an unique id for this model (SACMODEL_NORMAL_PLANE).
	SACModelNormalPlane ()
virtual void	selectWithinDistance (const std::vector< double > &model_coefficients, double threshold, std::vector< int > &inliers)
	Select all the points which respect the given model coefficients as inliers.
void	setAxis (const geometry_msgs::Point32 &ax)
	Set the axis along which we need to search for a plane perpendicular to.
void	setDist (double d)
	Set the distance we expect the plane to be from the origin.
void	setEpsAngle (double ea)
	Set the angle epsilon (delta) threshold.
void	setEpsDist (double delta)
	Set the distance epsilon (delta) threshold.
void	setNormalDistanceWeight (double w)
	Set the normal angular distance weight.
Protected Attributes
geometry_msgs::Point32	axis_
double	dist_
double	eps_angle_
double	eps_dist_
double	normal_distance_weight_

Detailed Description

A Sample Consensus Model class for normal 3D plane segmentation.

Definition at line 45 of file sac_model_normal_plane.h.

Constructor & Destructor Documentation

sample_consensus::SACModelNormalPlane::SACModelNormalPlane ( ) [inline]

Definition at line 50 of file sac_model_normal_plane.h.

Member Function Documentation

void sample_consensus::SACModelNormalPlane::getDistancesToModel	(	const std::vector< double > &	model_coefficients,
		std::vector< double > &	distances
	)			`[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 sample_consensus::SACModelPlane.

Definition at line 139 of file sac_model_normal_plane.cpp.

virtual int sample_consensus::SACModelNormalPlane::getModelType ( ) [inline, virtual]

Return an unique id for this model (SACMODEL_NORMAL_PLANE).

Reimplemented from sample_consensus::SACModelPlane.

Definition at line 97 of file sac_model_normal_plane.h.

void sample_consensus::SACModelNormalPlane::selectWithinDistance	(	const std::vector< double > &	model_coefficients,
		double	threshold,
		std::vector< int > &	inliers
	)			`[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

Note:: : To get the refined inliers of a model, use: ANNpoint refined_coeff = refitModel (...); selectWithinDistance (refined_coeff, threshold);

Reimplemented from sample_consensus::SACModelPlane.

Definition at line 53 of file sac_model_normal_plane.cpp.

void sample_consensus::SACModelNormalPlane::setAxis ( const geometry_msgs::Point32 & ax ) [inline]

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

Parameters:

ax

a pointer to the axis.

Definition at line 67 of file sac_model_normal_plane.h.

void sample_consensus::SACModelNormalPlane::setDist ( double d ) [inline]

Set the distance we expect the plane to be from the origin.

Parameters:

d

distance from the template plane to the origin

Definition at line 84 of file sac_model_normal_plane.h.

void sample_consensus::SACModelNormalPlane::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 78 of file sac_model_normal_plane.h.

void sample_consensus::SACModelNormalPlane::setEpsDist ( double delta ) [inline]

Set the distance epsilon (delta) threshold.

Parameters:

delta

the maximum allowed deviation from the template distance from the origin

Definition at line 90 of file sac_model_normal_plane.h.

void sample_consensus::SACModelNormalPlane::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 61 of file sac_model_normal_plane.h.