Point Cloud Library (PCL)
1.10.1
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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>
117 const std::vector<int> &indices,
137 const double threshold,
138 std::vector<int> &inliers)
override;
148 const double threshold)
const override;
156 std::vector<double> &distances)
const override;
170 #ifdef PCL_NO_PRECOMPILE
171 #include <pcl/sample_consensus/impl/sac_model_normal_plane.hpp>
Defines all the PCL and non-PCL macros used.
This file defines compatibility wrappers for low level I/O functions.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
unsigned int sample_size_
The size of a sample from which the model is computed.
SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...
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.
unsigned int model_size_
The number of coefficients in the model.
PointCloud represents the base class in PCL for storing collections of 3D points.
SampleConsensusModelNormalPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelNormalPlane.
A point structure representing Euclidean xyz coordinates, and the RGB color.
~SampleConsensusModelNormalPlane()
Empty destructor.
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudNPtr
typename pcl::PointCloud< PointNT >::ConstPtr PointCloudNConstPtr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
shared_ptr< SampleConsensusModel< PointT > > Ptr
std::string model_name_
The model name.
typename PointCloud::ConstPtr PointCloudConstPtr
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.
SampleConsensusModelNormalPlane(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelNormalPlane.
typename PointCloud::Ptr PointCloudPtr
SampleConsensusModel represents the base model class.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_NORMAL_PLANE).
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
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.