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Definition at line 78 of file sac_model.h.

Definition at line 72 of file sac_model.h.

Definition at line 73 of file sac_model.h.

Definition at line 74 of file sac_model.h.

Definition at line 77 of file sac_model.h.

Definition at line 75 of file sac_model.h.

Empty constructor for base SampleConsensusModel.

Parameters

[in]

random

if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 84 of file sac_model.h.

Constructor for base SampleConsensusModel.

Parameters

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

Definition at line 107 of file sac_model.h.

Constructor for base SampleConsensusModel.

Parameters

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

Definition at line 133 of file sac_model.h.

Destructor for base SampleConsensusModel.

Definition at line 165 of file sac_model.h.

Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them in model_coefficients.

Pure virtual. Implementations of this function must be thread-safe.

Parameters

[in]	samples	the point indices found as possible good candidates for creating a valid model
[out]	model_coefficients	the computed model coefficients

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelRegistration< PointT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelStick< PointT >, and pcl::SampleConsensusModelLine< PointT >.

Compute the variance of the errors to the model from the internally estimated vector of distances.

The model must be computed first (or at least selectWithinDistance must be called).

Definition at line 450 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::computeVariance().

Compute the variance of the errors to the model.

Parameters

[in]

error_sqr_dists

a vector holding the distances

Definition at line 436 of file sac_model.h.

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

Pure virtual. Implementations of this function must be thread-safe.

Parameters

[in]	model_coefficients	the coefficients of a model that we need to compute distances to
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers

Returns

the resultant number of inliers

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelRegistration< PointT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, pcl::SampleConsensusModelParallelLine< PointT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelStick< PointT >, pcl::SampleConsensusModelLine< PointT >, pcl::SampleConsensusModelNormalSphere< PointT, PointNT >, and pcl::SampleConsensusModelRegistration2D< PointT >.

Verify whether a subset of indices verifies a given set of model coefficients.

Pure virtual.

Parameters

[in]	indices	the data indices that need to be tested against the model
[in]	model_coefficients	the set of model coefficients
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelStick< PointT >, pcl::SampleConsensusModelLine< PointT >, and pcl::SampleConsensusModelRegistration< PointT >.

Fills a sample array with random samples from the indices_ vector.

Parameters

[out]

sample

the set of indices of target_ to analyze

Definition at line 466 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getSamples().

Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_.

Parameters

[out]

sample

the set of indices of target_ to analyze

Definition at line 483 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getSamples().

Get a string representation of the name of this class.

Definition at line 349 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::isModelValid().

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

Pure virtual.

Parameters

[in]	model_coefficients	the coefficients of a model that we need to compute distances to
[out]	distances	the resultant estimated distances

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelRegistration< PointT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, pcl::SampleConsensusModelParallelLine< PointT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelNormalSphere< PointT, PointNT >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelStick< PointT >, pcl::SampleConsensusModelLine< PointT >, and pcl::SampleConsensusModelRegistration2D< PointT >.

Get a pointer to the vector of indices used.

Definition at line 341 of file sac_model.h.

Get a pointer to the input point cloud dataset.

Definition at line 317 of file sac_model.h.

Return the number of coefficients in the model.

Definition at line 363 of file sac_model.h.

Return a unique id for each type of model employed.

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelRegistration< PointT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelStick< PointT >, pcl::SampleConsensusModelLine< PointT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, pcl::SampleConsensusModelParallelLine< PointT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, and pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Get the minimum and maximum allowable radius limits for the model as set by the user.

Parameters

[out]	min_radius	the resultant minimum radius model
[out]	max_radius	the resultant maximum radius model

Definition at line 388 of file sac_model.h.

Referenced by pcl::SACSegmentation< PointT >::initSACModel(), and pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

Get a set of random data samples and return them as point indices.

Parameters

[out]	iterations	the internal number of iterations used by SAC methods
[out]	samples	the resultant model samples

Definition at line 173 of file sac_model.h.

Return the size of a sample from which the model is computed.

Definition at line 356 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getSamples().

Get maximum distance allowed when drawing random samples.

Parameters

[out]

radius

the maximum distance (L2 norm)

Definition at line 425 of file sac_model.h.

Check whether a model is valid given the user constraints.

Default implementation verifies that the number of coefficients in the supplied model is as expected for this SAC model type. Specific SAC models should extend this function by checking the user constraints (if any).

Parameters

[in]

model_coefficients

the set of model coefficients

Reimplemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 527 of file sac_model.h.

Check if a sample of indices results in a good sample of points indices.

Pure virtual.

Parameters

[in]

samples

the resultant index samples

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelRegistration< PointT >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelStick< PointT >, pcl::SampleConsensusModelLine< PointT >, and pcl::SampleConsensusModelRegistration2D< PointT >.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getSamples().

Recompute the model coefficients using the given inlier set and return them to the user.

Pure virtual.

Note

: these are the coefficients of the model after refinement (e.g., after a least-squares optimization)

Parameters

[in]	inliers	the data inliers supporting the model
[in]	model_coefficients	the initial guess for the model coefficients
[out]	optimized_coefficients	the resultant recomputed coefficients after non-linear optimization

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelRegistration< PointT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelStick< PointT >, and pcl::SampleConsensusModelLine< PointT >.

Create a new point cloud with inliers projected onto the model.

Pure virtual.

Parameters

[in]	inliers	the data inliers that we want to project on the model
[in]	model_coefficients	the coefficients of a model
[out]	projected_points	the resultant projected points
[in]	copy_data_fields	set to true (default) if we want the projected_points cloud to be an exact copy of the input dataset minus the point projections on the plane model

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelStick< PointT >, pcl::SampleConsensusModelLine< PointT >, and pcl::SampleConsensusModelRegistration< PointT >.

Boost-based random number generator.

Definition at line 595 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::drawIndexSample(), and pcl::SampleConsensusModel< WeightSACPointType >::drawIndexSampleRadius().

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

Pure virtual.

Parameters

[in]	model_coefficients	the coefficients of a model that we need to compute distances to
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers
[out]	inliers	the resultant model inliers

Implemented in pcl::SampleConsensusModelCone< PointT, PointNT >, pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelPlane< PointT >, pcl::SampleConsensusModelCylinder< PointT, PointNT >, pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >, pcl::SampleConsensusModelRegistration< PointT >, pcl::SampleConsensusModelSphere< PointT >, pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle2D< PointT >, pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >, pcl::SampleConsensusModelCircle3D< PointT >, pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, pcl::SampleConsensusModelParallelLine< PointT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelStick< PointT >, pcl::SampleConsensusModelLine< PointT >, pcl::SampleConsensusModelNormalSphere< PointT, PointNT >, and pcl::SampleConsensusModelRegistration2D< PointT >.

Provide the vector of indices that represents the input data.

Parameters

[out]

indices

the vector of indices that represents the input data.

Definition at line 333 of file sac_model.h.

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in]

indices

a pointer to the vector of indices that represents the input data.

Definition at line 323 of file sac_model.h.

Referenced by pcl::registration::FPCSInitialAlignment< PointSource, PointTarget, pcl::Normal, float >::selectBase().

Provide a pointer to the input dataset.

Parameters

[in]

cloud

the const boost shared pointer to a PointCloud message

Definition at line 300 of file sac_model.h.

Referenced by pcl::SampleConsensusModelRegistration< PointT >::setInputCloud().

This can be used to impose any kind of constraint on the model, e.g.

that it has a specific direction, size, or anything else.

Parameters

[in]

function

A function that gets model coefficients and returns whether the model is acceptable or not.

Definition at line 399 of file sac_model.h.

Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)

Parameters

[in]	min_radius	the minimum radius model
[in]	max_radius	the maximum radius model

Todo:

change this to set limits on the entire model

Definition at line 375 of file sac_model.h.

Referenced by pcl::SACSegmentation< PointT >::initSACModel(), and pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

Set the maximum distance allowed when drawing random samples.

Parameters

[in]	radius	the maximum distance (L2 norm)
	search

Definition at line 414 of file sac_model.h.

Definition at line 430 of file sac_model.h.

A user defined function that takes model coefficients and returns whether the model is acceptable or not.

Definition at line 601 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::isModelValid(), and pcl::SampleConsensusModel< WeightSACPointType >::setModelConstraints().

A vector holding the distances to the computed model.

Used internally.

Definition at line 585 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::computeVariance().

A pointer to the vector of point indices to use.

Definition at line 556 of file sac_model.h.

Referenced by pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping(), pcl::SampleConsensusModel< WeightSACPointType >::getIndices(), pcl::SampleConsensusModel< WeightSACPointType >::getSamples(), pcl::SampleConsensusModel< WeightSACPointType >::setIndices(), and pcl::SampleConsensusModel< WeightSACPointType >::setInputCloud().

A boost shared pointer to the point cloud data array.

Definition at line 553 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::drawIndexSampleRadius(), pcl::SampleConsensusModel< WeightSACPointType >::getInputCloud(), and pcl::SampleConsensusModel< WeightSACPointType >::setInputCloud().

The maximum number of samples to try until we get a good one.

Definition at line 559 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getSamples().

The model name.

Definition at line 550 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getClassName(), pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >::SampleConsensusModelCircle2D(), pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >::SampleConsensusModelCircle3D(), pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::SampleConsensusModelCone(), pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >::SampleConsensusModelCylinder(), pcl::SampleConsensusModelLine< PointT >::SampleConsensusModelLine(), pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::SampleConsensusModelNormalParallelPlane(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::SampleConsensusModelNormalSphere(), pcl::SampleConsensusModelParallelLine< PointT >::SampleConsensusModelParallelLine(), pcl::SampleConsensusModelParallelPlane< PointT >::SampleConsensusModelParallelPlane(), pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane(), pcl::SampleConsensusModelPlane< PointT >::SampleConsensusModelPlane(), pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration(), pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D(), pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >::SampleConsensusModelSphere(), and pcl::SampleConsensusModelStick< PointT >::SampleConsensusModelStick().

The number of coefficients in the model.

Every subclass should initialize this appropriately.

Definition at line 591 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getModelSize(), pcl::SampleConsensusModel< WeightSACPointType >::isModelValid(), pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >::SampleConsensusModelCircle2D(), pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >::SampleConsensusModelCircle3D(), pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::SampleConsensusModelCone(), pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >::SampleConsensusModelCylinder(), pcl::SampleConsensusModelLine< PointT >::SampleConsensusModelLine(), pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::SampleConsensusModelNormalParallelPlane(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::SampleConsensusModelNormalSphere(), pcl::SampleConsensusModelParallelLine< PointT >::SampleConsensusModelParallelLine(), pcl::SampleConsensusModelParallelPlane< PointT >::SampleConsensusModelParallelPlane(), pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane(), pcl::SampleConsensusModelPlane< PointT >::SampleConsensusModelPlane(), pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration(), pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D(), pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >::SampleConsensusModelSphere(), and pcl::SampleConsensusModelStick< PointT >::SampleConsensusModelStick().

Definition at line 564 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getRadiusLimits(), pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >::isModelValid(), and pcl::SampleConsensusModel< WeightSACPointType >::setRadiusLimits().

The minimum and maximum radius limits for the model.

Applicable to all models that estimate a radius.

Definition at line 564 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getRadiusLimits(), pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >::isModelValid(), and pcl::SampleConsensusModel< WeightSACPointType >::setRadiusLimits().

Boost-based random number generator algorithm.

Definition at line 576 of file sac_model.h.

Boost-based random number generator distribution.

Definition at line 579 of file sac_model.h.

Boost-based random number generator.

Definition at line 582 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::rnd().

The size of a sample from which the model is computed.

Every subclass should initialize this appropriately.

Definition at line 588 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::getSampleSize(), pcl::SampleConsensusModelCircle2D< pcl::PointXYZRGB >::SampleConsensusModelCircle2D(), pcl::SampleConsensusModelCircle3D< pcl::PointXYZRGB >::SampleConsensusModelCircle3D(), pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::SampleConsensusModelCone(), pcl::SampleConsensusModelCylinder< pcl::PointXYZRGB, PointNT >::SampleConsensusModelCylinder(), pcl::SampleConsensusModelLine< PointT >::SampleConsensusModelLine(), pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::SampleConsensusModelNormalParallelPlane(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::SampleConsensusModelNormalSphere(), pcl::SampleConsensusModelParallelLine< PointT >::SampleConsensusModelParallelLine(), pcl::SampleConsensusModelParallelPlane< PointT >::SampleConsensusModelParallelPlane(), pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane(), pcl::SampleConsensusModelPlane< PointT >::SampleConsensusModelPlane(), pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration(), pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D(), pcl::SampleConsensusModelSphere< pcl::PointXYZRGB >::SampleConsensusModelSphere(), and pcl::SampleConsensusModelStick< PointT >::SampleConsensusModelStick().

The maximum distance of subsequent samples from the first (radius search)

Definition at line 567 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::drawIndexSampleRadius(), pcl::SampleConsensusModel< WeightSACPointType >::getSamples(), pcl::SampleConsensusModel< WeightSACPointType >::getSamplesMaxDist(), and pcl::SampleConsensusModel< WeightSACPointType >::setSamplesMaxDist().

The search object for picking subsequent samples using radius search.

Definition at line 570 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::drawIndexSampleRadius(), and pcl::SampleConsensusModel< WeightSACPointType >::setSamplesMaxDist().

Data containing a shuffled version of the indices.

This is used and modified when drawing samples.

Definition at line 573 of file sac_model.h.

Referenced by pcl::SampleConsensusModel< WeightSACPointType >::drawIndexSample(), pcl::SampleConsensusModel< WeightSACPointType >::drawIndexSampleRadius(), pcl::SampleConsensusModel< WeightSACPointType >::setIndices(), and pcl::SampleConsensusModel< WeightSACPointType >::setInputCloud().