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

pcl::SampleConsensusModelParallelPlane< PointT > Class Template Reference
[Module sample_consensus]

SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular constraints. More...

#include <pcl/sample_consensus/sac_model_parallel_plane.h>

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List of all members.

Public Types

typedef
SampleConsensusModelPlane
< PointT >::PointCloud 
PointCloud
typedef
SampleConsensusModelPlane
< PointT >::PointCloudPtr 
PointCloudPtr
typedef
SampleConsensusModelPlane
< PointT >::PointCloudConstPtr 
PointCloudConstPtr
typedef boost::shared_ptr
< SampleConsensusModelParallelPlane
Ptr

Public Member Functions

 SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud)
 Constructor for base SampleConsensusModelParallelPlane.
 SampleConsensusModelParallelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
 Constructor for base SampleConsensusModelParallelPlane.
void setAxis (const Eigen::Vector3f &ax)
 Set the axis along which we need to search for a plane perpendicular to.
Eigen::Vector3f getAxis ()
 Get the axis along which we need to search for a plane perpendicular to.
void setEpsAngle (double ea)
 Set the angle epsilon (delta) threshold.
double getEpsAngle ()
 Get the angle epsilon (delta) threshold.
void selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector< int > &inliers)
 Select all the points which respect the given model coefficients as inliers.
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
 Compute all distances from the cloud data to a given plane model.
pcl::SacModel getModelType () const
 Return an unique id for this model (SACMODEL_PARALLEL_PLANE).

Protected Member Functions

bool isModelValid (const Eigen::VectorXf &model_coefficients)
 Check whether a model is valid given the user constraints.

Protected Attributes

Eigen::Vector3f axis_
 The axis along which we need to search for a plane perpendicular to.
double eps_angle_
 The maximum allowed difference between the plane normal and the given axis.

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelParallelPlane< PointT >

SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular constraints.

The plane must be parallel to a user-specified axis within a user-specified angle threshold.

Author:
Radu Bogdan Rusu, Nico Blodow

Definition at line 53 of file sac_model_parallel_plane.h.


Member Typedef Documentation

template<typename PointT>
typedef SampleConsensusModelPlane<PointT>::PointCloud pcl::SampleConsensusModelParallelPlane< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 56 of file sac_model_parallel_plane.h.

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 58 of file sac_model_parallel_plane.h.

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 57 of file sac_model_parallel_plane.h.

template<typename PointT>
typedef boost::shared_ptr<SampleConsensusModelParallelPlane> pcl::SampleConsensusModelParallelPlane< PointT >::Ptr

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 60 of file sac_model_parallel_plane.h.


Constructor & Destructor Documentation

template<typename PointT>
pcl::SampleConsensusModelParallelPlane< PointT >::SampleConsensusModelParallelPlane ( const PointCloudConstPtr cloud  )  [inline]

Constructor for base SampleConsensusModelParallelPlane.

Parameters:
cloud the input point cloud dataset

Definition at line 65 of file sac_model_parallel_plane.h.

template<typename PointT>
pcl::SampleConsensusModelParallelPlane< PointT >::SampleConsensusModelParallelPlane ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices 
) [inline]

Constructor for base SampleConsensusModelParallelPlane.

Parameters:
cloud the input point cloud dataset
indices a vector of point indices to be used from cloud

Definition at line 75 of file sac_model_parallel_plane.h.


Member Function Documentation

template<typename PointT>
Eigen::Vector3f pcl::SampleConsensusModelParallelPlane< PointT >::getAxis (  )  [inline]

Get the axis along which we need to search for a plane perpendicular to.

Definition at line 87 of file sac_model_parallel_plane.h.

template<typename PointT >
void pcl::SampleConsensusModelParallelPlane< PointT >::getDistancesToModel ( const Eigen::VectorXf &  model_coefficients,
std::vector< double > &  distances 
) [virtual]

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

Parameters:
model_coefficients the coefficients of a plane model that we need to compute distances to
distances the resultant estimated distances

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 60 of file sac_model_parallel_plane.hpp.

template<typename PointT>
double pcl::SampleConsensusModelParallelPlane< PointT >::getEpsAngle (  )  [inline]

Get the angle epsilon (delta) threshold.

Definition at line 95 of file sac_model_parallel_plane.h.

template<typename PointT>
pcl::SacModel pcl::SampleConsensusModelParallelPlane< PointT >::getModelType (  )  const [inline, virtual]

Return an unique id for this model (SACMODEL_PARALLEL_PLANE).

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 111 of file sac_model_parallel_plane.h.

template<typename PointT >
bool pcl::SampleConsensusModelParallelPlane< PointT >::isModelValid ( const Eigen::VectorXf &  model_coefficients  )  [protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:
model_coefficients the set of model coefficients

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 75 of file sac_model_parallel_plane.hpp.

template<typename PointT >
void pcl::SampleConsensusModelParallelPlane< PointT >::selectWithinDistance ( const Eigen::VectorXf &  model_coefficients,
double  threshold,
std::vector< int > &  inliers 
) [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
inliers the resultant model inliers
threshold a maximum admissible distance threshold for determining the inliers from the outliers

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 45 of file sac_model_parallel_plane.hpp.

template<typename PointT>
void pcl::SampleConsensusModelParallelPlane< PointT >::setAxis ( const Eigen::Vector3f &  ax  )  [inline]

Set the axis along which we need to search for a plane perpendicular to.

Parameters:
ax the axis along which we need to search for a plane perpendicular to

Definition at line 84 of file sac_model_parallel_plane.h.

template<typename PointT>
void pcl::SampleConsensusModelParallelPlane< PointT >::setEpsAngle ( double  ea  )  [inline]

Set the angle epsilon (delta) threshold.

Parameters:
ea the maximum allowed difference between the plane normal and the given axis.

Definition at line 92 of file sac_model_parallel_plane.h.


Member Data Documentation

template<typename PointT>
Eigen::Vector3f pcl::SampleConsensusModelParallelPlane< PointT >::axis_ [protected]

The axis along which we need to search for a plane perpendicular to.

Definition at line 120 of file sac_model_parallel_plane.h.

template<typename PointT>
double pcl::SampleConsensusModelParallelPlane< PointT >::eps_angle_ [protected]

The maximum allowed difference between the plane normal and the given axis.

Definition at line 123 of file sac_model_parallel_plane.h.


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