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
| typedef boost::shared_ptr<const SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::ConstPtr |
Definition at line 563 of file sac_model.h.
| typedef pcl::PointCloud<PointNT>::ConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr |
Definition at line 559 of file sac_model.h.
| typedef pcl::PointCloud<PointNT>::Ptr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr |
Definition at line 560 of file sac_model.h.
| typedef boost::shared_ptr<SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::Ptr |
Definition at line 562 of file sac_model.h.
Constructor & Destructor Documentation
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inline |
Empty constructor for base SampleConsensusModelFromNormals.
Definition at line 566 of file sac_model.h.
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inlinevirtual |
Destructor.
Definition at line 569 of file sac_model.h.
Member Function Documentation
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inline |
Get a pointer to the normals of the input XYZ point cloud dataset.
Definition at line 599 of file sac_model.h.
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inline |
Get the normal angular distance weight.
Definition at line 584 of file sac_model.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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inline |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
- Parameters
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[in] normals the const boost shared pointer to a PointCloud message
Definition at line 592 of file sac_model.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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inline |
Set the normal angular distance weight.
- Parameters
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[in] 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 577 of file sac_model.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
Member Data Documentation
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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().
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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:
- /root/pcl/sample_consensus/include/pcl/sample_consensus/sac_model.h