Point Cloud Library (PCL)
1.9.1
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41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
44 #include <pcl/sample_consensus/sac_model_plane.h>
65 template <
typename Po
intT>
75 typedef boost::shared_ptr<SampleConsensusModelParallelPlane>
Ptr;
99 const std::vector<int> &indices,
121 inline Eigen::Vector3f
142 const double threshold,
143 std::vector<int> &inliers);
153 const double threshold)
const;
161 std::vector<double> &distances)
const;
175 isModelValid (
const Eigen::VectorXf &model_coefficients)
const;
188 #ifdef PCL_NO_PRECOMPILE
189 #include <pcl/sample_consensus/impl/sac_model_parallel_plane.hpp>
192 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLELPLANE_H_
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< SampleConsensusModelParallelPlane > Ptr
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const
Count all the points which respect the given model coefficients as inliers.
SampleConsensusModelPlane< PointT >::PointCloudPtr PointCloudPtr
SampleConsensusModelPlane defines a model for 3D plane segmentation.
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_PARALLEL_PLANE).
SampleConsensusModelParallelPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelPlane.
virtual ~SampleConsensusModelParallelPlane()
Empty destructor.
unsigned int sample_size_
The size of a sample from which the model is computed.
@ SACMODEL_PARALLEL_PLANE
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
unsigned int model_size_
The number of coefficients in the model.
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
Eigen::Vector3f getAxis()
Get the axis along which we need to search for a plane perpendicular to.
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
SampleConsensusModelParallelPlane(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelParallelPlane.
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const
Compute all distances from the cloud data to a given plane model.
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
std::string model_name_
The model name.
SampleConsensusModelPlane< PointT >::PointCloud PointCloud
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
Select all the points which respect the given model coefficients as inliers.
virtual bool isModelValid(const Eigen::VectorXf &model_coefficients) const
Check whether a model is valid given the user constraints.
double sin_angle_
The sine of the angle.
double getEpsAngle()
Get the angle epsilon (delta) threshold.
SampleConsensusModel represents the base model class.
SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular ...
double eps_angle_
The maximum allowed difference between the plane and the given axis.
SampleConsensusModelPlane< PointT >::PointCloudConstPtr PointCloudConstPtr
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr