Point Cloud Library (PCL)  1.12.1-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 >:
+ Collaboration 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. More...
 
virtual ~SampleConsensusModelFromNormals ()=default
 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 611 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 618 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 614 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 615 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 617 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 621 of file sac_model.h.

◆ ~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 659 of file sac_model.h.

References pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_.

◆ getNormalDistanceWeight()

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

◆ 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 652 of file sac_model.h.

References pcl::SampleConsensusModelFromNormals< PointT, PointNT >::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 632 of file sac_model.h.

References pcl::SampleConsensusModelFromNormals< PointT, PointNT >::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_
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 665 of file sac_model.h.

Referenced by pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getNormalDistanceWeight(), and pcl::SampleConsensusModelFromNormals< PointT, PointNT >::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 670 of file sac_model.h.

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


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