sample_consensus::SACModelOrientedPlane Class Reference

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

#include <sac_model_oriented_plane.h>

Inheritance diagram for sample_consensus::SACModelOrientedPlane:

[legend]

List of all members.

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_ORIENTED_PLANE).
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	setEpsAngle (double ea)
	Set the angle epsilon (delta) threshold.
Protected Attributes
geometry_msgs::Point32	axis_
double	eps_angle_

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Detailed Description

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

Definition at line 45 of file sac_model_oriented_plane.h.

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Member Function Documentation

void sample_consensus::SACModelOrientedPlane::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 89 of file sac_model_oriented_plane.cpp.

virtual int sample_consensus::SACModelOrientedPlane::getModelType

(

)

[inline, virtual]

Return an unique id for this model (SACMODEL_ORIENTED_PLANE).

Reimplemented from sample_consensus::SACModelPlane.

Definition at line 72 of file sac_model_oriented_plane.h.

void sample_consensus::SACModelOrientedPlane::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 44 of file sac_model_oriented_plane.cpp.

void sample_consensus::SACModelOrientedPlane::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 54 of file sac_model_oriented_plane.h.

void sample_consensus::SACModelOrientedPlane::setEpsAngle

(

double

ea

)

[inline]

Set the angle epsilon (delta) threshold.

Parameters:

ea

the maximum allowed threshold between the plane normal and the given axis

Definition at line 65 of file sac_model_oriented_plane.h.

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Member Data Documentation

geometry_msgs::Point32 sample_consensus::SACModelOrientedPlane::axis_ [protected]

Definition at line 75 of file sac_model_oriented_plane.h.

double sample_consensus::SACModelOrientedPlane::eps_angle_ [protected]

Definition at line 76 of file sac_model_oriented_plane.h.

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

• sac_model_oriented_plane.h
• sac_model_oriented_plane.cpp