Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

pcl::SACSegmentationFromNormals< PointT, PointNT > Class Template Reference
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SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation. More...

#include <pcl/segmentation/sac_segmentation.h>

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List of all members.

Public Types

typedef SACSegmentation
< PointT >::PointCloud 
PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef pcl::PointCloud< PointNT > PointCloudN
typedef PointCloudN::Ptr PointCloudNPtr
typedef PointCloudN::ConstPtr PointCloudNConstPtr
typedef SampleConsensus
< PointT >::Ptr 
SampleConsensusPtr
typedef SampleConsensusModel
< PointT >::Ptr 
SampleConsensusModelPtr
typedef
SampleConsensusModelFromNormals
< PointT, PointNT >::Ptr 
SampleConsensusModelFromNormalsPtr

Public Member Functions

 SACSegmentationFromNormals ()
 Empty constructor.
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
PointCloudNConstPtr getInputNormals ()
 Get a pointer to the normals of the input XYZ point cloud dataset.
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.
double getNormalDistanceWeight ()
 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.

Protected Member Functions

virtual bool initSACModel (const int model_type)
 Initialize the Sample Consensus model and set its parameters.
virtual std::string getClassName () const
 Class get name method.

Protected Attributes

PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset.
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.

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 261 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 274 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 276 of file sac_segmentation.h.

template<typename PointT , typename PointNT >
typedef pcl::PointCloud<PointNT> pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudN

Definition at line 278 of file sac_segmentation.h.

template<typename PointT , typename PointNT >
typedef PointCloudN::ConstPtr pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudNConstPtr

Definition at line 280 of file sac_segmentation.h.

template<typename PointT , typename PointNT >
typedef PointCloudN::Ptr pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudNPtr

Definition at line 279 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 275 of file sac_segmentation.h.

template<typename PointT , typename PointNT >
typedef SampleConsensusModelFromNormals<PointT, PointNT>::Ptr pcl::SACSegmentationFromNormals< PointT, PointNT >::SampleConsensusModelFromNormalsPtr

Definition at line 284 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 283 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 282 of file sac_segmentation.h.


Constructor & Destructor Documentation

template<typename PointT , typename PointNT >
pcl::SACSegmentationFromNormals< PointT, PointNT >::SACSegmentationFromNormals (  )  [inline]

Empty constructor.

Definition at line 287 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 329 of file sac_segmentation.h.

template<typename PointT , typename PointNT >
PointCloudNConstPtr pcl::SACSegmentationFromNormals< PointT, PointNT >::getInputNormals (  )  [inline]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 298 of file sac_segmentation.h.

template<typename PointT , typename PointNT >
double pcl::SACSegmentationFromNormals< PointT, PointNT >::getNormalDistanceWeight (  )  [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 310 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:
model_type the type of SAC model that is to be used

Reimplemented from pcl::SACSegmentation< PointT >.

Definition at line 298 of file sac_segmentation.hpp.

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:
normals the const boost shared pointer to a PointCloud message

Definition at line 294 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:
distance_weight the distance/angular weight

Definition at line 305 of file sac_segmentation.h.


Member Data Documentation

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 319 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 314 of file sac_segmentation.h.


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