Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::SampleConsensusModelFromNormals Class 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>

List of all members.

Public Types

typedef pcl::PointCloud
< PointNT >::ConstPtr 
PointCloudNConstPtr
typedef pcl::PointCloud
< PointNT >::Ptr 
PointCloudNPtr
typedef boost::shared_ptr
< SampleConsensusModelFromNormals
Ptr
typedef boost::shared_ptr
< const
SampleConsensusModelFromNormals
ConstPtr

Public Member Functions

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

Detailed Description

SampleConsensusModelFromNormals represents the base model class for models that require the use of surface normals for estimation.


Member Typedef Documentation

Definition at line 379 of file sac_model.h.


Constructor & Destructor Documentation

pcl::SampleConsensusModelFromNormals::SampleConsensusModelFromNormals ( ) [inline]

Empty constructor for base SampleConsensusModelFromNormals.

Definition at line 382 of file sac_model.h.


Member Function Documentation

PointCloudNConstPtr pcl::SampleConsensusModelFromNormals::getInputNormals ( ) [inline]

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

Definition at line 412 of file sac_model.h.

double pcl::SampleConsensusModelFromNormals::getNormalDistanceWeight ( ) [inline]

Get the normal angular distance weight.

Definition at line 397 of file sac_model.h.

void pcl::SampleConsensusModelFromNormals::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 405 of file sac_model.h.

void pcl::SampleConsensusModelFromNormals::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 390 of file sac_model.h.


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