Point Cloud Library (PCL)
1.10.0
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43 #include <pcl/sample_consensus/sac_model_plane.h>
65 template <
typename Po
intT>
100 const std::vector<int> &indices,
122 inline Eigen::Vector3f
143 const double threshold,
144 std::vector<int> &inliers)
override;
154 const double threshold)
const override;
162 std::vector<double> &distances)
const override;
176 isModelValid (
const Eigen::VectorXf &model_coefficients)
const override;
189 #ifdef PCL_NO_PRECOMPILE
190 #include <pcl/sample_consensus/impl/sac_model_parallel_plane.hpp>
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
This file defines compatibility wrappers for low level I/O functions.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers) override
Select all the points which respect the given model coefficients as inliers.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
SampleConsensusModelParallelPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelPlane.
unsigned int sample_size_
The size of a sample from which the model is computed.
@ SACMODEL_PARALLEL_PLANE
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.
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
~SampleConsensusModelParallelPlane()
Empty destructor.
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 getAxis() const
Get the axis along which we need to search for a plane perpendicular to.
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
shared_ptr< SampleConsensusModel< PointT > > Ptr
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
std::string model_name_
The model name.
typename PointCloud::ConstPtr PointCloudConstPtr
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
typename SampleConsensusModel< PointT >::PointCloud PointCloud
double sin_angle_
The sine of the angle.
typename PointCloud::Ptr PointCloudPtr
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PARALLEL_PLANE).
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.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.