Public Types | Public Member Functions | Protected Attributes

pcl::SampleConsensusModelFromNormals< PointT, PointNT > Class Template Reference

SampleConsensusModelFromNormals represents the base model class for models that require the use of surface normals for estimation. More...

#include <pcl/sample_consensus/sac_model.h>

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List of all members.

Public Types

typedef pcl::PointCloud
< PointNT >::ConstPtr 
PointCloudNConstPtr
typedef pcl::PointCloud
< PointNT >::Ptr 
PointCloudNPtr
typedef boost::shared_ptr
< SampleConsensusModelFromNormals
Ptr
typedef boost::shared_ptr
< const
SampleConsensusModelFromNormals
ConstPtr

Public Member Functions

 SampleConsensusModelFromNormals ()
 Empty constructor for base SampleConsensusModelFromNormals.
void setNormalDistanceWeight (double w)
 Set the normal angular distance weight.
double getNormalDistanceWeight ()
 Get the normal angular distance weight.
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.

Protected Attributes

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

Detailed Description

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

SampleConsensusModelFromNormals represents the base model class for models that require the use of surface normals for estimation.

Definition at line 349 of file sac_model.h.


Member Typedef Documentation

template<typename PointT, typename PointNT>
typedef boost::shared_ptr<const SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::ConstPtr

Definition at line 356 of file sac_model.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointNT>::ConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr
template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointNT>::Ptr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr
template<typename PointT, typename PointNT>
typedef boost::shared_ptr<SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::Ptr

Constructor & Destructor Documentation

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

Empty constructor for base SampleConsensusModelFromNormals.

Definition at line 359 of file sac_model.h.


Member Function Documentation

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

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

Definition at line 383 of file sac_model.h.

template<typename PointT, typename PointNT>
double pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getNormalDistanceWeight (  )  [inline]

Get the normal angular distance weight.

Definition at line 371 of file sac_model.h.

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelFromNormals< 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 379 of file sac_model.h.

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setNormalDistanceWeight ( double  w  )  [inline]

Set the normal angular distance weight.

Parameters:
w the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. (The Euclidean distance will have weight 1-w.)

Definition at line 367 of file sac_model.h.


Member Data Documentation

template<typename PointT, typename PointNT>
double pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normal_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 389 of file sac_model.h.

template<typename PointT, typename PointNT>
PointCloudNConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_ [protected]

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

Definition at line 394 of file sac_model.h.


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