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_ {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. 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 612 of file sac_model.h.
Member Typedef Documentation
◆ ConstPtr
| using pcl::SampleConsensusModelFromNormals< PointT, PointNT >::ConstPtr = shared_ptr<const SampleConsensusModelFromNormals<PointT, PointNT> > |
Definition at line 619 of file sac_model.h.
◆ PointCloudNConstPtr
| using pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr = typename pcl::PointCloud<PointNT>::ConstPtr |
Definition at line 615 of file sac_model.h.
◆ PointCloudNPtr
| using pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr = typename pcl::PointCloud<PointNT>::Ptr |
Definition at line 616 of file sac_model.h.
◆ Ptr
| using pcl::SampleConsensusModelFromNormals< PointT, PointNT >::Ptr = shared_ptr<SampleConsensusModelFromNormals<PointT, PointNT> > |
Definition at line 618 of file sac_model.h.
Constructor & Destructor Documentation
◆ SampleConsensusModelFromNormals()
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inline |
Empty constructor for base SampleConsensusModelFromNormals.
Definition at line 622 of file sac_model.h.
◆ ~SampleConsensusModelFromNormals()
|
virtualdefault |
Destructor.
Member Function Documentation
◆ getInputNormals()
|
inline |
Get a pointer to the normals of the input XYZ point cloud dataset.
Definition at line 660 of file sac_model.h.
References pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_.
◆ getNormalDistanceWeight()
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inline |
Get the normal angular distance weight.
Definition at line 645 of file sac_model.h.
References pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normal_distance_weight_.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
◆ setInputNormals()
|
inline |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
- Parameters
-
[in] normals the const boost shared pointer to a PointCloud message
Definition at line 653 of file sac_model.h.
References pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
◆ setNormalDistanceWeight()
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inline |
Set the normal angular distance weight.
- Parameters
-
[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 633 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_
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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 666 of file sac_model.h.
Referenced by pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getNormalDistanceWeight(), and pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setNormalDistanceWeight().
◆ 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::SampleConsensusModelFromNormals< PointT, PointNT >::getInputNormals(), and pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setInputNormals().
The documentation for this class was generated from the following file:
- pcl/sample_consensus/sac_model.h