Public Types | Public Member Functions
pcl::SampleConsensusModelNormalPlane< PointT, PointNT > Class Template Reference

SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. More...

#include <sac_model_normal_plane.h>

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

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

virtual int countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
 Count all the points which respect the given model coefficients as inliers.
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
 Compute all distances from the cloud data to a given plane model.
pcl::SacModel getModelType () const
 Return an unique id for this model (SACMODEL_NORMAL_PLANE).
 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelNormalPlane.
 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelNormalPlane.
void selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
 Select all the points which respect the given model coefficients as inliers.
virtual ~SampleConsensusModelNormalPlane ()
 Empty destructor.

Detailed Description

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

SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals.

The model coefficients are defined as:

To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

 SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model;
 ...
 sac_model.setNormalDistanceWeight (0.1);
 ...
Author:
Radu B. Rusu and Jared Glover

Definition at line 76 of file sac_model_normal_plane.h.


Member Typedef Documentation

template<typename PointT, typename PointNT>
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloud

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 86 of file sac_model_normal_plane.h.

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 88 of file sac_model_normal_plane.h.

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 87 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>
typedef boost::shared_ptr<SampleConsensusModelNormalPlane> pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::Ptr

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane ( const PointCloudConstPtr cloud,
bool  random = false 
) [inline]

Constructor for base SampleConsensusModelNormalPlane.

Parameters:
[in]cloudthe input point cloud dataset
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 99 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices,
bool  random = false 
) [inline]

Constructor for base SampleConsensusModelNormalPlane.

Parameters:
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 111 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>
virtual pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::~SampleConsensusModelNormalPlane ( ) [inline, virtual]

Empty destructor.

Definition at line 120 of file sac_model_normal_plane.h.


Member Function Documentation

template<typename PointT , typename PointNT >
int pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistance ( const Eigen::VectorXf &  model_coefficients,
const double  threshold 
) [virtual]

Count all the points which respect the given model coefficients as inliers.

Parameters:
[in]model_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholdmaximum admissible distance threshold for determining the inliers from the outliers
Returns:
the resultant number of inliers

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 106 of file sac_model_normal_plane.hpp.

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistancesToModel ( const Eigen::VectorXf &  model_coefficients,
std::vector< double > &  distances 
) [virtual]

Compute all distances from the cloud data to a given plane model.

Parameters:
[in]model_coefficientsthe coefficients of a plane model that we need to compute distances to
[out]distancesthe resultant estimated distances

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 151 of file sac_model_normal_plane.hpp.

template<typename PointT, typename PointNT>
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 152 of file sac_model_normal_plane.h.

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::selectWithinDistance ( const Eigen::VectorXf &  model_coefficients,
const double  threshold,
std::vector< int > &  inliers 
) [virtual]

Select all the points which respect the given model coefficients as inliers.

Parameters:
[in]model_coefficientsthe coefficients of a plane model that we need to compute distances to
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe resultant model inliers

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 48 of file sac_model_normal_plane.hpp.


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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:43:35