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

Inheritance diagram for sample_consensus::SACModelOrientedPlane:

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_

Detailed Description

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

Definition at line 45 of file sac_model_oriented_plane.h.

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

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

Return an unique id for this model (SACMODEL_ORIENTED_PLANE).

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);

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.

Definition at line 75 of file sac_model_oriented_plane.h.

Definition at line 76 of file sac_model_oriented_plane.h.

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