Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SACSegmentationFromNormals< PointT, PointNT > Class Template Reference

SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation. More...

#include <sac_segmentation.h>

Inheritance diagram for pcl::SACSegmentationFromNormals< PointT, PointNT >:
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List of all members.

Public Types

typedef SACSegmentation
< PointT >::PointCloud 
PointCloud
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef pcl::PointCloud< PointNT > PointCloudN
typedef PointCloudN::ConstPtr PointCloudNConstPtr
typedef PointCloudN::Ptr PointCloudNPtr
typedef PointCloud::Ptr PointCloudPtr
typedef
SampleConsensusModelFromNormals
< PointT, PointNT >::Ptr 
SampleConsensusModelFromNormalsPtr
typedef SampleConsensusModel
< PointT >::Ptr 
SampleConsensusModelPtr
typedef SampleConsensus
< PointT >::Ptr 
SampleConsensusPtr

Public Member Functions

double getDistanceFromOrigin () const
 Get the distance of a plane model from the origin.
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset.
void getMinMaxOpeningAngle (double &min_angle, double &max_angle)
 Get the opening angle which we need minumum to validate a cone model.
double getNormalDistanceWeight () const
 Get the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.
 SACSegmentationFromNormals ()
 Empty constructor.
void setDistanceFromOrigin (const double d)
 Set the distance we expect a plane model to be from the origin.
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
void setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
 Set the minimum opning angle for a cone model.
void setNormalDistanceWeight (double distance_weight)
 Set the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.

Protected Member Functions

virtual std::string getClassName () const
 Class get name method.
virtual bool initSACModel (const int model_type)
 Initialize the Sample Consensus model and set its parameters.

Protected Attributes

double distance_from_origin_
 The distance from the template plane to the origin.
double distance_weight_
 The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.
double max_angle_
double min_angle_
 The minimum and maximum allowed opening angle of valid cone model.
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset.

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SACSegmentationFromNormals< PointT, PointNT >

SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation.

Definition at line 294 of file sac_segmentation.h.


Member Typedef Documentation

template<typename PointT, typename PointNT>
typedef SACSegmentation<PointT>::PointCloud pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloud

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 307 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef PointCloud::ConstPtr pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudConstPtr

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 309 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointNT> pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudN

Definition at line 311 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef PointCloudN::ConstPtr pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudNConstPtr

Definition at line 313 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef PointCloudN::Ptr pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudNPtr

Definition at line 312 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef PointCloud::Ptr pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudPtr

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 308 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef SampleConsensusModelFromNormals<PointT, PointNT>::Ptr pcl::SACSegmentationFromNormals< PointT, PointNT >::SampleConsensusModelFromNormalsPtr

Definition at line 317 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef SampleConsensusModel<PointT>::Ptr pcl::SACSegmentationFromNormals< PointT, PointNT >::SampleConsensusModelPtr

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 316 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
typedef SampleConsensus<PointT>::Ptr pcl::SACSegmentationFromNormals< PointT, PointNT >::SampleConsensusPtr

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 315 of file sac_segmentation.h.


Constructor & Destructor Documentation

template<typename PointT, typename PointNT>
pcl::SACSegmentationFromNormals< PointT, PointNT >::SACSegmentationFromNormals ( ) [inline]

Empty constructor.

Definition at line 320 of file sac_segmentation.h.


Member Function Documentation

template<typename PointT, typename PointNT>
virtual std::string pcl::SACSegmentationFromNormals< PointT, PointNT >::getClassName ( ) const [inline, protected, virtual]

Class get name method.

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 403 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
double pcl::SACSegmentationFromNormals< PointT, PointNT >::getDistanceFromOrigin ( ) const [inline]

Get the distance of a plane model from the origin.

Definition at line 377 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
PointCloudNConstPtr pcl::SACSegmentationFromNormals< PointT, PointNT >::getInputNormals ( ) const [inline]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 337 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
void pcl::SACSegmentationFromNormals< PointT, PointNT >::getMinMaxOpeningAngle ( double &  min_angle,
double &  max_angle 
) [inline]

Get the opening angle which we need minumum to validate a cone model.

Definition at line 363 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
double pcl::SACSegmentationFromNormals< PointT, PointNT >::getNormalDistanceWeight ( ) const [inline]

Get the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.

Definition at line 349 of file sac_segmentation.h.

template<typename PointT , typename PointNT >
bool pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel ( const int  model_type) [protected, virtual]

Initialize the Sample Consensus model and set its parameters.

Parameters:
[in]model_typethe type of SAC model that is to be used

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 326 of file sac_segmentation.hpp.

template<typename PointT, typename PointNT>
void pcl::SACSegmentationFromNormals< PointT, PointNT >::setDistanceFromOrigin ( const double  d) [inline]

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

Parameters:
[in]ddistance from the template plane modl to the origin

Definition at line 373 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
void pcl::SACSegmentationFromNormals< PointT, PointNT >::setInputNormals ( const PointCloudNConstPtr normals) [inline]

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

Parameters:
[in]normalsthe const boost shared pointer to a PointCloud message

Definition at line 333 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
void pcl::SACSegmentationFromNormals< PointT, PointNT >::setMinMaxOpeningAngle ( const double &  min_angle,
const double &  max_angle 
) [inline]

Set the minimum opning angle for a cone model.

Parameters:
oathe opening angle which we need minumum to validate a cone model.

Definition at line 355 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
void pcl::SACSegmentationFromNormals< PointT, PointNT >::setNormalDistanceWeight ( double  distance_weight) [inline]

Set the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.

Parameters:
[in]distance_weightthe distance/angular weight

Definition at line 344 of file sac_segmentation.h.


Member Data Documentation

template<typename PointT, typename PointNT>
double pcl::SACSegmentationFromNormals< PointT, PointNT >::distance_from_origin_ [protected]

The distance from the template plane to the origin.

Definition at line 389 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
double pcl::SACSegmentationFromNormals< PointT, PointNT >::distance_weight_ [protected]

The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.

Definition at line 386 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
double pcl::SACSegmentationFromNormals< PointT, PointNT >::max_angle_ [protected]

Definition at line 393 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
double pcl::SACSegmentationFromNormals< PointT, PointNT >::min_angle_ [protected]

The minimum and maximum allowed opening angle of valid cone model.

Definition at line 392 of file sac_segmentation.h.

template<typename PointT, typename PointNT>
PointCloudNConstPtr pcl::SACSegmentationFromNormals< PointT, PointNT >::normals_ [protected]

A pointer to the input dataset that contains the point normals of the XYZ dataset.

Definition at line 381 of file sac_segmentation.h.


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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:08