Point Cloud Library (PCL)  1.7.0
List of all members | 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>

+ Inheritance diagram for pcl::SampleConsensusModelFromNormals< PointT, PointNT >:

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. More...
 
virtual ~SampleConsensusModelFromNormals ()
 Destructor. More...
 
void setNormalDistanceWeight (const double w)
 Set the normal angular distance weight. More...
 
double getNormalDistanceWeight ()
 Get the normal angular distance weight. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals ()
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 

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

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 556 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 563 of file sac_model.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointNT>::ConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr

Definition at line 559 of file sac_model.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointNT>::Ptr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr

Definition at line 560 of file sac_model.h.

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

Definition at line 562 of file sac_model.h.

Constructor & Destructor Documentation

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

Empty constructor for base SampleConsensusModelFromNormals.

Definition at line 566 of file sac_model.h.

template<typename PointT, typename PointNT>
virtual pcl::SampleConsensusModelFromNormals< PointT, PointNT >::~SampleConsensusModelFromNormals ( )
inlinevirtual

Destructor.

Definition at line 569 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 599 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 584 of file sac_model.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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
[in]normalsthe const boost shared pointer to a PointCloud message

Definition at line 592 of file sac_model.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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

Set the normal angular distance weight.

Parameters
[in]wthe 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 577 of file sac_model.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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 605 of file sac_model.h.

Referenced by pcl::SampleConsensusModelFromNormals< pcl::PointXYZRGB, PointNT >::getNormalDistanceWeight(), and pcl::SampleConsensusModelFromNormals< pcl::PointXYZRGB, PointNT >::setNormalDistanceWeight().

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 610 of file sac_model.h.

Referenced by pcl::SampleConsensusModelFromNormals< pcl::PointXYZRGB, PointNT >::getInputNormals(), and pcl::SampleConsensusModelFromNormals< pcl::PointXYZRGB, PointNT >::setInputNormals().


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