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/PointCloudLibrarySampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. More...
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
Public Member Functions | |
| SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelNormalParallelPlane. More... |
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| SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelNormalParallelPlane. More... |
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| ~SampleConsensusModelNormalParallelPlane () | |
| Empty destructor. More... |
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| void | setAxis (const Eigen::Vector3f &ax) |
| Set the axis along which we need to search for a plane perpendicular to. More... |
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| Eigen::Vector3f | getAxis () const |
| Get the axis along which we need to search for a plane perpendicular to. More... |
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| void | setEpsAngle (const double ea) |
| Set the angle epsilon (delta) threshold. More... |
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| double | getEpsAngle () const |
| Get the angle epsilon (delta) threshold. More... |
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| void | setDistanceFromOrigin (const double d) |
| Set the distance we expect the plane to be from the origin. More... |
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| double | getDistanceFromOrigin () const |
| Get the distance of the plane from the origin. More... |
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| void | setEpsDist (const double delta) |
| Set the distance epsilon (delta) threshold. More... |
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| double | getEpsDist () const |
| Get the distance epsilon (delta) threshold. More... |
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| pcl::SacModel | getModelType () const override |
| Return a unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE). More... |
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 Public Member Functions inherited from pcl::SampleConsensusModelNormalPlane< PointT, PointNT >
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| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelNormalPlane. More... |
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| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelNormalPlane. More... |
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| ~SampleConsensusModelNormalPlane () | |
| Empty destructor. More... |
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| void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override |
| Select all the points which respect the given model coefficients as inliers. More... |
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| std::size_t | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const override |
| Count all the points which respect the given model coefficients as inliers. More... |
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| void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override |
| Compute all distances from the cloud data to a given plane model. More... |
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| pcl::SacModel | getModelType () const override |
| Return a unique id for this model (SACMODEL_NORMAL_PLANE). More... |
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Public Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
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| SampleConsensusModelPlane (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelPlane. More... |
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| SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelPlane. More... |
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| ~SampleConsensusModelPlane () | |
| Empty destructor. More... |
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| bool | computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override |
| Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them internally in model_coefficients_. More... |
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| void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override |
| Compute all distances from the cloud data to a given plane model. More... |
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| void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override |
| Select all the points which respect the given model coefficients as inliers. More... |
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| std::size_t | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const override |
| Count all the points which respect the given model coefficients as inliers. More... |
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| void | optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override |
| Recompute the plane coefficients using the given inlier set and return them to the user. More... |
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| void | projectPoints (const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override |
| Create a new point cloud with inliers projected onto the plane model. More... |
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| bool | doSamplesVerifyModel (const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override |
| Verify whether a subset of indices verifies the given plane model coefficients. More... |
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| pcl::SacModel | getModelType () const override |
| Return a unique id for this model (SACMODEL_PLANE). More... |
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Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
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| SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModel. More... |
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| SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModel. More... |
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| virtual | ~SampleConsensusModel () |
| Destructor for base SampleConsensusModel. More... |
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| virtual void | getSamples (int &iterations, Indices &samples) |
| Get a set of random data samples and return them as point indices. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| void | setIndices (const Indices &indices) |
| Provide the vector of indices that represents the input data. More... |
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| IndicesPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| unsigned int | getSampleSize () const |
| Return the size of a sample from which the model is computed. More... |
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| unsigned int | getModelSize () const |
| Return the number of coefficients in the model. More... |
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| void | setRadiusLimits (const double &min_radius, const double &max_radius) |
| Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More... |
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| void | getRadiusLimits (double &min_radius, double &max_radius) const |
| Get the minimum and maximum allowable radius limits for the model as set by the user. More... |
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| void | setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function) |
| This can be used to impose any kind of constraint on the model, e.g. More... |
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| void | setSamplesMaxDist (const double &radius, SearchPtr search) |
| Set the maximum distance allowed when drawing random samples. More... |
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| void | getSamplesMaxDist (double &radius) const |
| Get maximum distance allowed when drawing random samples. More... |
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| double | computeVariance (const std::vector< double > &error_sqr_dists) const |
| Compute the variance of the errors to the model. More... |
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| double | computeVariance () const |
| Compute the variance of the errors to the model from the internally estimated vector of distances. More... |
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Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
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| SampleConsensusModelFromNormals () | |
| Empty constructor for base SampleConsensusModelFromNormals. More... |
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| virtual | ~SampleConsensusModelFromNormals () |
| Destructor. More... |
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| void | setNormalDistanceWeight (const double w) |
| Set the normal angular distance weight. More... |
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| double | getNormalDistanceWeight () const |
| Get the normal angular distance weight. More... |
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. More... |
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Protected Member Functions | |
| bool | isModelValid (const Eigen::VectorXf &model_coefficients) const override |
| Check whether a model is valid given the user constraints. More... |
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Protected Member Functions inherited from pcl::SampleConsensusModelNormalPlane< PointT, PointNT >
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| std::size_t | countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const |
| This implementation uses no SIMD instructions. More... |
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Protected Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
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| std::size_t | countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const |
| This implementation uses no SIMD instructions. More... |
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Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
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| SampleConsensusModel (bool random=false) | |
| Empty constructor for base SampleConsensusModel. More... |
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| void | drawIndexSample (Indices &sample) |
| Fills a sample array with random samples from the indices_ vector. More... |
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| void | drawIndexSampleRadius (Indices &sample) |
| Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More... |
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| int | rnd () |
| Boost-based random number generator. More... |
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Additional Inherited Members | |
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Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
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| std::string | model_name_ |
| The model name. More... |
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| PointCloudConstPtr | input_ |
| A boost shared pointer to the point cloud data array. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| double | radius_min_ |
| The minimum and maximum radius limits for the model. More... |
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| double | radius_max_ |
| double | samples_radius_ |
| The maximum distance of subsequent samples from the first (radius search) More... |
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| SearchPtr | samples_radius_search_ |
| The search object for picking subsequent samples using radius search. More... |
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| Indices | shuffled_indices_ |
| Data containing a shuffled version of the indices. More... |
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| boost::mt19937 | rng_alg_ |
| Boost-based random number generator algorithm. More... |
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| std::shared_ptr< boost::uniform_int<> > | rng_dist_ |
| Boost-based random number generator distribution. More... |
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| std::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > > | rng_gen_ |
| Boost-based random number generator. More... |
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| std::vector< double > | error_sqr_dists_ |
| A vector holding the distances to the computed model. More... |
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| unsigned int | sample_size_ |
| The size of a sample from which the model is computed. More... |
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| unsigned int | model_size_ |
| The number of coefficients in the model. More... |
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| std::function< bool(const Eigen::VectorXf &)> | custom_model_constraints_ |
| A user defined function that takes model coefficients and returns whether the model is acceptable or not. More... |
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Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
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| double | normal_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. More... |
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| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
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| static const unsigned int | max_sample_checks_ = 1000 |
| The maximum number of samples to try until we get a good one. More... |
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Detailed Description
template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >
SampleConsensusModelNormalParallelPlane 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. In addition, the plane normal must lie parallel to a user-specified axis. This means that the plane itself will lie perpendicular to that axis, similar to SACMODEL_PERPENDICULAR_PLANE .
The model coefficients are defined as:
- a : the X coordinate of the plane's normal (normalized)
- b : the Y coordinate of the plane's normal (normalized)
- c : the Z coordinate of the plane's normal (normalized)
- d : the fourth Hessian component of the plane's equation
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);
...
In addition, the user can specify more constraints, such as:
- an axis along which we need to search for a plane perpendicular to (setAxis);
- an angle tolerance threshold between the plane's normal and the above given axis (setEpsAngle);
- a distance we expect the plane to be from the origin (setDistanceFromOrigin);
- a distance tolerance as the maximum allowed deviation from the above given distance from the origin (setEpsDist).
- Note
- Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!
Definition at line 86 of file sac_model_normal_parallel_plane.h.
Member Typedef Documentation
ConstPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::ConstPtr = shared_ptr<const SampleConsensusModelNormalParallelPlane<PointT, PointNT> > |
Definition at line 104 of file sac_model_normal_parallel_plane.h.
PointCloud
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloud = typename SampleConsensusModel<PointT>::PointCloud |
Definition at line 96 of file sac_model_normal_parallel_plane.h.
PointCloudConstPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr |
Definition at line 98 of file sac_model_normal_parallel_plane.h.
PointCloudNConstPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNConstPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr |
Definition at line 101 of file sac_model_normal_parallel_plane.h.
PointCloudNPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr |
Definition at line 100 of file sac_model_normal_parallel_plane.h.
PointCloudPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr |
Definition at line 97 of file sac_model_normal_parallel_plane.h.
Ptr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::Ptr = shared_ptr<SampleConsensusModelNormalParallelPlane<PointT, PointNT> > |
Definition at line 103 of file sac_model_normal_parallel_plane.h.
Constructor & Destructor Documentation
SampleConsensusModelNormalParallelPlane() [1/2]
template<typename PointT , typename PointNT >
| inline |
Constructor for base SampleConsensusModelNormalParallelPlane.
- Parameters
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[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 110 of file sac_model_normal_parallel_plane.h.
References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.
SampleConsensusModelNormalParallelPlane() [2/2]
template<typename PointT , typename PointNT >
| inline |
Constructor for base SampleConsensusModelNormalParallelPlane.
- Parameters
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[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 129 of file sac_model_normal_parallel_plane.h.
References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.
~SampleConsensusModelNormalParallelPlane()
template<typename PointT , typename PointNT >
| inline |
Empty destructor.
Definition at line 145 of file sac_model_normal_parallel_plane.h.
Member Function Documentation
getAxis()
template<typename PointT , typename PointNT >
| inline |
Get the axis along which we need to search for a plane perpendicular to.
Definition at line 155 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
getDistanceFromOrigin()
template<typename PointT , typename PointNT >
| inline |
Get the distance of the plane from the origin.
Definition at line 176 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
getEpsAngle()
template<typename PointT , typename PointNT >
| inline |
Get the angle epsilon (delta) threshold.
Definition at line 166 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
getEpsDist()
template<typename PointT , typename PointNT >
| inline |
Get the distance epsilon (delta) threshold.
Definition at line 186 of file sac_model_normal_parallel_plane.h.
getModelType()
template<typename PointT , typename PointNT >
| inlineoverridevirtual |
Return a unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 190 of file sac_model_normal_parallel_plane.h.
References pcl::SACMODEL_NORMAL_PARALLEL_PLANE.
isModelValid()
template<typename PointT , typename PointNT >
| overrideprotectedvirtual |
Check whether a model is valid given the user constraints.
- Parameters
-
[in] model_coefficients the set of model coefficients
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 48 of file sac_model_normal_parallel_plane.hpp.
setAxis()
template<typename PointT , typename PointNT >
| inline |
Set the axis along which we need to search for a plane perpendicular to.
- Parameters
-
[in] ax the axis along which we need to search for a plane perpendicular to
Definition at line 151 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
setDistanceFromOrigin()
template<typename PointT , typename PointNT >
| inline |
Set the distance we expect the plane to be from the origin.
- Parameters
-
[in] d distance from the template plane to the origin
Definition at line 172 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
setEpsAngle()
template<typename PointT , typename PointNT >
| inline |
Set the angle epsilon (delta) threshold.
- Parameters
-
[in] ea the maximum allowed deviation from 90 degrees between the plane normal and the given axis.
- Note
- You need to specify an angle > 0 in order to activate the axis-angle constraint!
Definition at line 162 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
setEpsDist()
template<typename PointT , typename PointNT >
| inline |
Set the distance epsilon (delta) threshold.
- Parameters
-
[in] delta the maximum allowed deviation from the template distance from the origin
Definition at line 182 of file sac_model_normal_parallel_plane.h.
The documentation for this class was generated from the following files:
- pcl/sample_consensus/sac_model_normal_parallel_plane.h
- pcl/sample_consensus/impl/sac_model_normal_parallel_plane.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_sample_consensus_model_normal_parallel_plane.html