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 >:

[legend]

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_type the 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] d distance 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] normals the 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:

oa	the 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_weight the 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:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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