SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints. More...
#include <sac_model_normal_plane.h>
Public Types | |
| typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
| typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
| typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNConstPtr | PointCloudNConstPtr |
| typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNPtr | PointCloudNPtr |
| typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
| typedef boost::shared_ptr < SampleConsensusModelNormalPlane > | Ptr |
Public Member Functions | |
| Eigen::Vector3f | getAxis () |
| Get the axis along which we need to search for a plane perpendicular to. | |
| double | getDistanceFromOrigin () |
| Get the distance of the plane from the origin. | |
| 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. | |
| double | getEpsDist () |
| Get the distance epsilon (delta) threshold. | |
| pcl::SacModel | getModelType () const |
| Return an unique id for this model (SACMODEL_NORMAL_PLANE). | |
| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
| Constructor for base SampleConsensusModelNormalPlane. | |
| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModelNormalPlane. | |
| 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 | setDistanceFromOrigin (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. | |
Protected Member Functions | |
| bool | isModelValid (const Eigen::VectorXf &model_coefficients) |
| Check whether a model is valid given the user constraints. | |
Private Attributes | |
| Eigen::Vector3f | axis_ |
| The axis along which we need to search for a plane perpendicular to. | |
| double | distance_from_origin_ |
| The distance from the template plane to the origin. | |
| double | eps_angle_ |
| The maximum allowed difference between the plane normal and the given axis. | |
| double | eps_dist_ |
| The maximum allowed deviation from the template distance from the origin. | |
SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints.
Definition at line 58 of file sac_model_normal_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloud |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 67 of file sac_model_normal_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 69 of file sac_model_normal_plane.h.
| typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNConstPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 72 of file sac_model_normal_plane.h.
| typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 71 of file sac_model_normal_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 68 of file sac_model_normal_plane.h.
| typedef boost::shared_ptr<SampleConsensusModelNormalPlane> pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::Ptr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 74 of file sac_model_normal_plane.h.
| pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelNormalPlane.
| cloud | the input point cloud dataset |
Definition at line 79 of file sac_model_normal_plane.h.
| pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane | ( | const PointCloudConstPtr & | cloud, | |
| const std::vector< int > & | indices | |||
| ) | [inline] |
Constructor for base SampleConsensusModelNormalPlane.
| cloud | the input point cloud dataset | |
| indices | a vector of point indices to be used from cloud |
Definition at line 89 of file sac_model_normal_plane.h.
| Eigen::Vector3f pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getAxis | ( | ) | [inline] |
Get the axis along which we need to search for a plane perpendicular to.
Definition at line 101 of file sac_model_normal_plane.h.
| double pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistanceFromOrigin | ( | ) | [inline] |
Get the distance of the plane from the origin.
Definition at line 117 of file sac_model_normal_plane.h.
| void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, | |
| std::vector< double > & | distances | |||
| ) | [inline, virtual] |
Compute all distances from the cloud data to a given plane model.
| 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 109 of file sac_model_normal_plane.hpp.
| double pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getEpsAngle | ( | ) | [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 109 of file sac_model_normal_plane.h.
| double pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getEpsDist | ( | ) | [inline] |
Get the distance epsilon (delta) threshold.
Definition at line 125 of file sac_model_normal_plane.h.
| pcl::SacModel pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_NORMAL_PLANE).
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 141 of file sac_model_normal_plane.h.
| bool pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::isModelValid | ( | const Eigen::VectorXf & | model_coefficients | ) | [inline, protected, virtual] |
Check whether a model is valid given the user constraints.
| model_coefficients | the set of model coefficients |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 160 of file sac_model_normal_plane.hpp.
| void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::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.
| 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 50 of file sac_model_normal_plane.hpp.
| void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::setAxis | ( | const Eigen::Vector3f & | ax | ) | [inline] |
Set the axis along which we need to search for a plane perpendicular to.
| ax | the axis along which we need to search for a plane perpendicular to |
Definition at line 98 of file sac_model_normal_plane.h.
| void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::setDistanceFromOrigin | ( | double | d | ) | [inline] |
Set the distance we expect the plane to be from the origin.
| d | distance from the template plane to the origin |
Definition at line 114 of file sac_model_normal_plane.h.
| void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::setEpsAngle | ( | double | ea | ) | [inline] |
Set the angle epsilon (delta) threshold.
| ea | the maximum allowed difference between the plane normal and the given axis. |
Definition at line 106 of file sac_model_normal_plane.h.
| void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::setEpsDist | ( | double | delta | ) | [inline] |
Set the distance epsilon (delta) threshold.
| delta | the maximum allowed deviation from the template distance from the origin |
Definition at line 122 of file sac_model_normal_plane.h.
Eigen::Vector3f pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::axis_ [private] |
The axis along which we need to search for a plane perpendicular to.
Definition at line 153 of file sac_model_normal_plane.h.
double pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::distance_from_origin_ [private] |
The distance from the template plane to the origin.
Definition at line 156 of file sac_model_normal_plane.h.
double pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::eps_angle_ [private] |
The maximum allowed difference between the plane normal and the given axis.
Definition at line 159 of file sac_model_normal_plane.h.
double pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::eps_dist_ [private] |
The maximum allowed deviation from the template distance from the origin.
Definition at line 162 of file sac_model_normal_plane.h.
