SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular constraints. The plane must be parallel to a user-specified axis within a user-specified angle threshold. More...
#include <sac_model_parallel_plane.h>
Public Types | |
| typedef SampleConsensusModelPlane < PointT >::PointCloud | PointCloud |
| typedef SampleConsensusModelPlane < PointT >::PointCloudConstPtr | PointCloudConstPtr |
| typedef SampleConsensusModelPlane < PointT >::PointCloudPtr | PointCloudPtr |
| typedef boost::shared_ptr < SampleConsensusModelParallelPlane > | 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_PARALLEL_PLANE). | |
| SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
| Constructor for base SampleConsensusModelParallelPlane. | |
| SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModelParallelPlane. | |
| 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. | |
SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular constraints. The plane must be parallel to a user-specified axis within a user-specified angle threshold.
Definition at line 54 of file sac_model_parallel_plane.h.
| typedef SampleConsensusModelPlane<PointT>::PointCloud pcl::SampleConsensusModelParallelPlane< PointT >::PointCloud |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 57 of file sac_model_parallel_plane.h.
| typedef SampleConsensusModelPlane<PointT>::PointCloudConstPtr pcl::SampleConsensusModelParallelPlane< PointT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 59 of file sac_model_parallel_plane.h.
| typedef SampleConsensusModelPlane<PointT>::PointCloudPtr pcl::SampleConsensusModelParallelPlane< PointT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 58 of file sac_model_parallel_plane.h.
| typedef boost::shared_ptr<SampleConsensusModelParallelPlane> pcl::SampleConsensusModelParallelPlane< PointT >::Ptr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 61 of file sac_model_parallel_plane.h.
| pcl::SampleConsensusModelParallelPlane< PointT >::SampleConsensusModelParallelPlane | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelParallelPlane.
| cloud | the input point cloud dataset |
Definition at line 66 of file sac_model_parallel_plane.h.
| pcl::SampleConsensusModelParallelPlane< PointT >::SampleConsensusModelParallelPlane | ( | const PointCloudConstPtr & | cloud, | |
| const std::vector< int > & | indices | |||
| ) | [inline] |
Constructor for base SampleConsensusModelParallelPlane.
| 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_parallel_plane.h.
| Eigen::Vector3f pcl::SampleConsensusModelParallelPlane< 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_parallel_plane.h.
| void pcl::SampleConsensusModelParallelPlane< 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.
| 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_parallel_plane.hpp.
| double pcl::SampleConsensusModelParallelPlane< PointT >::getEpsAngle | ( | ) | [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 96 of file sac_model_parallel_plane.h.
| pcl::SacModel pcl::SampleConsensusModelParallelPlane< PointT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_PARALLEL_PLANE).
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 112 of file sac_model_parallel_plane.h.
| bool pcl::SampleConsensusModelParallelPlane< PointT >::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 75 of file sac_model_parallel_plane.hpp.
| void pcl::SampleConsensusModelParallelPlane< 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.
| 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_parallel_plane.hpp.
| void pcl::SampleConsensusModelParallelPlane< PointT >::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 85 of file sac_model_parallel_plane.h.
| void pcl::SampleConsensusModelParallelPlane< PointT >::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 93 of file sac_model_parallel_plane.h.
Eigen::Vector3f pcl::SampleConsensusModelParallelPlane< PointT >::axis_ [protected] |
The axis along which we need to search for a plane perpendicular to.
Definition at line 121 of file sac_model_parallel_plane.h.
double pcl::SampleConsensusModelParallelPlane< PointT >::eps_angle_ [protected] |
The maximum allowed difference between the plane normal and the given axis.
Definition at line 124 of file sac_model_parallel_plane.h.
