Point Cloud Library (PCL) 1.15.1
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List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::SampleConsensusModelFromNormals< PointT, PointNT > Class Template Reference
Module sample_consensus

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 = shared_ptr<SampleConsensusModelFromNormals<PointT, PointNT> >
using ConstPtr = shared_ptr<const SampleConsensusModelFromNormals<PointT, PointNT> >

Public Member Functions

 SampleConsensusModelFromNormals ()
 Empty constructor for base SampleConsensusModelFromNormals.
virtual ~SampleConsensusModelFromNormals ()=default
 Destructor.
void setNormalDistanceWeight (const double w)
 Set the normal angular distance weight.
double getNormalDistanceWeight () const
 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 () const
 Get a pointer to the normals of the input XYZ point cloud dataset.

Protected Attributes

double normal_distance_weight_ {0.0}
 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 612 of file sac_model.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 619 of file sac_model.h.

◆ PointCloudNConstPtr

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

Definition at line 615 of file sac_model.h.

◆ PointCloudNPtr

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

Definition at line 616 of file sac_model.h.

◆ Ptr

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

Definition at line 618 of file sac_model.h.

Constructor & Destructor Documentation

◆ SampleConsensusModelFromNormals()

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

Empty constructor for base SampleConsensusModelFromNormals.

Definition at line 622 of file sac_model.h.

References normals_.

Referenced by pcl::SampleConsensusModelCone< PointT, PointNT >::operator=(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::operator=(), pcl::SampleConsensusModelTorus< PointT, PointNT >::operator=(), pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone(), pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone(), pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::SampleConsensusModelNormalSphere(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::SampleConsensusModelNormalSphere(), pcl::SampleConsensusModelTorus< PointT, PointNT >::SampleConsensusModelTorus(), pcl::SampleConsensusModelTorus< PointT, PointNT >::SampleConsensusModelTorus(), and pcl::SampleConsensusModelTorus< PointT, PointNT >::SampleConsensusModelTorus().

◆ ~SampleConsensusModelFromNormals()

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

Destructor.

Member Function Documentation

◆ getInputNormals()

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 660 of file sac_model.h.

References normals_.

◆ getNormalDistanceWeight()

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

Get the normal angular distance weight.

Definition at line 645 of file sac_model.h.

References normal_distance_weight_.

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

◆ setInputNormals()

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 653 of file sac_model.h.

References normals_.

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

◆ setNormalDistanceWeight()

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 633 of file sac_model.h.

References normal_distance_weight_.

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

Member Data Documentation

◆ normal_distance_weight_

template<typename PointT, typename PointNT>
double pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normal_distance_weight_ {0.0}
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 666 of file sac_model.h.

Referenced by pcl::SampleConsensusModelCone< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistanceStandard(), pcl::SampleConsensusModelCone< PointT, PointNT >::getDistancesToModel(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::getDistancesToModel(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistancesToModel(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::getDistancesToModel(), getNormalDistanceWeight(), pcl::SampleConsensusModelCone< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::selectWithinDistance(), and setNormalDistanceWeight().

◆ normals_

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 671 of file sac_model.h.

Referenced by pcl::SampleConsensusModelCone< PointT, PointNT >::computeModelCoefficients(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::computeModelCoefficients(), pcl::SampleConsensusModelTorus< PointT, PointNT >::computeModelCoefficients(), pcl::SampleConsensusModelCone< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelCone< PointT, PointNT >::getDistancesToModel(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::getDistancesToModel(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistancesToModel(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::getDistancesToModel(), getInputNormals(), pcl::SampleConsensusModelTorus< PointT, PointNT >::isSampleGood(), SampleConsensusModelFromNormals(), pcl::SampleConsensusModelCone< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::selectWithinDistance(), and setInputNormals().

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