41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_ 42 #define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_ 44 #include <pcl/sample_consensus/sac_model.h> 45 #include <pcl/sample_consensus/sac_model_plane.h> 46 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h> 47 #include <pcl/sample_consensus/model_types.h> 75 template <
typename Po
intT,
typename Po
intNT>
94 typedef boost::shared_ptr<SampleConsensusModelNormalPlane>
Ptr;
116 const std::vector<int> &indices,
136 const double threshold,
137 std::vector<int> &inliers);
147 const double threshold);
155 std::vector<double> &distances);
161 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
169 #ifdef PCL_NO_PRECOMPILE 170 #include <pcl/sample_consensus/impl/sac_model_normal_plane.hpp> 173 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPLANE_H_ virtual ~SampleConsensusModelNormalPlane()
Empty destructor.
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold)
Count all the points which respect the given model coefficients as inliers.
pcl::PointCloud< PointNT >::ConstPtr PointCloudNConstPtr
SampleConsensusModelNormalPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelNormalPlane.
unsigned int model_size_
The number of coefficients in the model.
pcl::PointCloud< PointNT >::Ptr PointCloudNPtr
SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr PointCloudNPtr
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
SampleConsensusModelNormalPlane(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelNormalPlane.
SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr PointCloudNConstPtr
boost::shared_ptr< SampleConsensusModelNormalPlane > Ptr
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_NORMAL_PLANE).
SampleConsensusModel represents the base model class.
std::string model_name_
The model name.
pcl::PointCloud< PointT >::Ptr PointCloudPtr
SampleConsensusModel< PointT >::PointCloud PointCloud
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
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.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
Compute all distances from the cloud data to a given plane model.
A point structure representing Euclidean xyz coordinates, and the RGB color.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
unsigned int sample_size_
The size of a sample from which the model is computed.