Point Cloud Library (PCL)  1.9.1-dev
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

using PointCloudNConstPtr = typename pcl::PointCloud< PointNT >::ConstPtr
 
using PointCloudNPtr = typename pcl::PointCloud< PointNT >::Ptr
 
using Ptr = boost::shared_ptr< SampleConsensusModelFromNormals< PointT, PointNT > >
 
using ConstPtr = boost::shared_ptr< const SampleConsensusModelFromNormals< PointT, PointNT > >
 

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 () const
 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 () const
 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 578 of file sac_model.h.

Member Typedef Documentation

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

Definition at line 585 of file sac_model.h.

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

Definition at line 581 of file sac_model.h.

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

Definition at line 582 of file sac_model.h.

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

Definition at line 584 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 588 of file sac_model.h.

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

Destructor.

Definition at line 591 of file sac_model.h.

Member Function Documentation

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

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

Definition at line 621 of file sac_model.h.

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

Get the normal angular distance weight.

Definition at line 606 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 614 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 599 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 627 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 632 of file sac_model.h.


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