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SampleConsensusModelPlane defines a model for 3D plane segmentation. More...

#include </__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h>

Public Types
using	PointCloud = typename SampleConsensusModel< Storage >::PointCloud

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Indices = typename SampleConsensusModel< Storage >::Indices

using	IndicesPtr = typename SampleConsensusModel< Storage >::IndicesPtr

using	IndicesConstPtr = typename SampleConsensusModel< Storage >::IndicesConstPtr

using	Coefficients = typename SampleConsensusModel< Storage >::Coefficients

using	Hypotheses = typename SampleConsensusModel< Storage >::Hypotheses

using	Samples = typename SampleConsensusModel< Storage >::Samples

using	Ptr = shared_ptr< SampleConsensusModelPlane >

using	ConstPtr = shared_ptr< const SampleConsensusModelPlane >

Public Types inherited from pcl::cuda::SampleConsensusModel< Storage >
using	PointCloud = PointCloudAOS< Storage >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Ptr = shared_ptr< SampleConsensusModel >

using	ConstPtr = shared_ptr< const SampleConsensusModel >

using	Indices = typename Storage< int >::type

using	IndicesPtr = shared_ptr< typename Storage< int >::type >

using	IndicesConstPtr = shared_ptr< const typename Storage< int >::type >

using	Coefficients = typename Storage< float >::type

using	CoefficientsPtr = shared_ptr< Coefficients >

using	CoefficientsConstPtr = shared_ptr< const Coefficients >

using	Hypotheses = typename Storage< float4 >::type

using	Samples = typename Storage< int >::type

Public Member Functions
	SampleConsensusModelPlane (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelPlane. More...

void	getSamples (int &iterations, Indices &samples)
	Get 3 random non-collinear points as data samples and return them as point indices. More...

bool	computeModelCoefficients (const Indices &samples, Coefficients &model_coefficients)
	Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them in model_coefficients. More...

bool	generateModelHypotheses (Hypotheses &h, int max_iterations)

virtual bool	generateModelHypotheses (Hypotheses &h, Samples &s, int max_iterations)

int	selectWithinDistance (const Coefficients &model_coefficients, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil)
	Select all the points which respect the given model coefficients as inliers. More...

int	selectWithinDistance (const Hypotheses &h, int idx, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil)

int	selectWithinDistance (Hypotheses &h, int idx, float threshold, IndicesPtr &inliers_stencil, float3 &centroid)

int	countWithinDistance (const Coefficients &model_coefficients, float threshold)

int	countWithinDistance (const Hypotheses &h, int idx, float threshold)

Public Member Functions inherited from pcl::cuda::SampleConsensusModel< Storage >
	SampleConsensusModel (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModel. More...

virtual	~SampleConsensusModel ()
	Destructor for base SampleConsensusModel. More...

virtual bool	isSampleInlier (IndicesPtr &inliers_stencil, Samples &samples, unsigned int &i)

int	deleteIndices (const IndicesPtr &indices_stencil)

int	deleteIndices (const Hypotheses &h, int idx, IndicesPtr &inliers, const IndicesPtr &inliers_delete)

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

IndicesPtr	getIndices () const
	Get a pointer to the vector of indices used. More...

void	setRadiusLimits (float min_radius, float max_radius)
	Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More...

void	getRadiusLimits (float &min_radius, float &max_radius)
	Get the minimum and maximum allowable radius limits for the model as set by the user. More...

shared_ptr< typename Storage< float4 >::type >	getNormals ()

void	setNormals (shared_ptr< typename Storage< float4 >::type > normals)

Static Public Attributes
const static int	MAX_ITERATIONS_COLLINEAR = 1000

Additional Inherited Members
Protected Attributes inherited from pcl::cuda::SampleConsensusModel< Storage >
PointCloudConstPtr	input_
	A boost shared pointer to the point cloud data array. More...

shared_ptr< typename Storage< float4 >::type >	normals_

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

IndicesPtr	indices_stencil_
	A pointer to the vector of point indices (stencil) to use. More...

unsigned int	nr_indices_in_stencil_
	number of indices left in indices_stencil_ More...

float	radius_min_
	The minimum and maximum radius limits for the model. More...

float	radius_max_

thrust::minstd_rand	rngl_
	Linear-Congruent random number generator engine. More...

Detailed Description

template<template< typename > class Storage>
class pcl::cuda::SampleConsensusModelPlane< Storage >

SampleConsensusModelPlane defines a model for 3D plane segmentation.

Definition at line 80 of file sac_model_plane.h.

Member Typedef Documentation

Coefficients

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::Coefficients = typename SampleConsensusModel<Storage>::Coefficients

Definition at line 95 of file sac_model_plane.h.

ConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::ConstPtr = shared_ptr<const SampleConsensusModelPlane>

Definition at line 100 of file sac_model_plane.h.

Hypotheses

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::Hypotheses = typename SampleConsensusModel<Storage>::Hypotheses

Definition at line 96 of file sac_model_plane.h.

Indices

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::Indices = typename SampleConsensusModel<Storage>::Indices

Definition at line 91 of file sac_model_plane.h.

IndicesConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesConstPtr = typename SampleConsensusModel<Storage>::IndicesConstPtr

Definition at line 93 of file sac_model_plane.h.

IndicesPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesPtr = typename SampleConsensusModel<Storage>::IndicesPtr

Definition at line 92 of file sac_model_plane.h.

PointCloud

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloud = typename SampleConsensusModel<Storage>::PointCloud

Definition at line 87 of file sac_model_plane.h.

PointCloudConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 89 of file sac_model_plane.h.

PointCloudPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 88 of file sac_model_plane.h.

Ptr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::Ptr = shared_ptr<SampleConsensusModelPlane>

Definition at line 99 of file sac_model_plane.h.

Samples

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModelPlane< Storage >::Samples = typename SampleConsensusModel<Storage>::Samples

Definition at line 97 of file sac_model_plane.h.

Constructor & Destructor Documentation

SampleConsensusModelPlane()

template<template< typename > class Storage>

pcl::cuda::SampleConsensusModelPlane< Storage >::SampleConsensusModelPlane ( const PointCloudConstPtr & cloud )

Constructor for base SampleConsensusModelPlane.

Parameters

cloud the input point cloud dataset

Member Function Documentation

computeModelCoefficients()

template<template< typename > class Storage>

bool pcl::cuda::SampleConsensusModelPlane< Storage >::computeModelCoefficients	(	const Indices &	samples,
		Coefficients &	model_coefficients
	)

virtual

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

The plane coefficients are: a, b, c, d (ax+by+cz+d=0)

Parameters

samples	the point indices found as possible good candidates for creating a valid model
model_coefficients	the resultant model coefficients

Implements pcl::cuda::SampleConsensusModel< Storage >.

countWithinDistance() [1/2]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::countWithinDistance	(	const Coefficients &	model_coefficients,
		float	threshold
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

countWithinDistance() [2/2]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::countWithinDistance	(	const Hypotheses &	h,
		int	idx,
		float	threshold
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

generateModelHypotheses() [1/2]

template<template< typename > class Storage>

bool pcl::cuda::SampleConsensusModelPlane< Storage >::generateModelHypotheses	(	Hypotheses &	h,
		int	max_iterations
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

Referenced by pcl::cuda::SampleConsensusModelPlane< Storage >::generateModelHypotheses().

generateModelHypotheses() [2/2]

template<template< typename > class Storage>

virtual bool pcl::cuda::SampleConsensusModelPlane< Storage >::generateModelHypotheses	(	Hypotheses &	h,
		Samples &	s,
		int	max_iterations
	)

inlinevirtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

Definition at line 134 of file sac_model_plane.h.

References pcl::cuda::SampleConsensusModelPlane< Storage >::generateModelHypotheses().

getSamples()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensusModelPlane< Storage >::getSamples	(	int &	iterations,
		Indices &	samples
	)

virtual

Get 3 random non-collinear points as data samples and return them as point indices.

Parameters

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

Note: assumes unique points!

Implements pcl::cuda::SampleConsensusModel< Storage >.

selectWithinDistance() [1/3]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::selectWithinDistance	(	const Coefficients &	model_coefficients,
		float	threshold,
		IndicesPtr &	inliers,
		IndicesPtr &	inliers_stencil
	)

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
threshold	a maximum admissible distance threshold for determining the inliers from the outliers
inliers	the resultant model inliers
inliers_stencil

Implements pcl::cuda::SampleConsensusModel< Storage >.

selectWithinDistance() [2/3]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::selectWithinDistance	(	const Hypotheses &	h,
		int	idx,
		float	threshold,
		IndicesPtr &	inliers,
		IndicesPtr &	inliers_stencil
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

selectWithinDistance() [3/3]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::selectWithinDistance	(	Hypotheses &	h,
		int	idx,
		float	threshold,
		IndicesPtr &	inliers_stencil,
		float3 &	centroid
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

Member Data Documentation

MAX_ITERATIONS_COLLINEAR

template<template< typename > class Storage>

const static int pcl::cuda::SampleConsensusModelPlane< Storage >::MAX_ITERATIONS_COLLINEAR = 1000

static

Definition at line 221 of file sac_model_plane.h.

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

/__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1cuda_1_1_sample_consensus_model_plane.html

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

template<template< typename > class Storage> class pcl::cuda::SampleConsensusModelPlane< Storage >

Member Typedef Documentation

Coefficients

ConstPtr

Hypotheses

Indices

IndicesConstPtr

IndicesPtr

PointCloud

PointCloudConstPtr

PointCloudPtr

Ptr

Samples

Constructor & Destructor Documentation

SampleConsensusModelPlane()

Member Function Documentation

computeModelCoefficients()

countWithinDistance() [1/2]

countWithinDistance() [2/2]

generateModelHypotheses() [1/2]

generateModelHypotheses() [2/2]

getSamples()

selectWithinDistance() [1/3]

selectWithinDistance() [2/3]

selectWithinDistance() [3/3]

Member Data Documentation

MAX_ITERATIONS_COLLINEAR

template<template< typename > class Storage>
class pcl::cuda::SampleConsensusModelPlane< Storage >