Point Cloud Library (PCL)
1.9.1
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SampleConsensusModelPlane defines a model for 3D plane segmentation. More...
Public Types | |
typedef SampleConsensusModel< Storage >::PointCloud | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef SampleConsensusModel< Storage >::Indices | Indices |
typedef SampleConsensusModel< Storage >::IndicesPtr | IndicesPtr |
typedef SampleConsensusModel< Storage >::IndicesConstPtr | IndicesConstPtr |
typedef SampleConsensusModel< Storage >::Coefficients | Coefficients |
typedef SampleConsensusModel< Storage >::Hypotheses | Hypotheses |
typedef SampleConsensusModel< Storage >::Samples | Samples |
typedef boost::shared_ptr< SampleConsensusModelPlane > | Ptr |
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typedef PointCloudAOS< Storage > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< SampleConsensusModel > | Ptr |
typedef boost::shared_ptr< const SampleConsensusModel > | ConstPtr |
typedef Storage< int >::type | Indices |
typedef boost::shared_ptr< typename Storage< int >::type > | IndicesPtr |
typedef boost::shared_ptr< const typename Storage< int >::type > | IndicesConstPtr |
typedef Storage< float >::type | Coefficients |
typedef boost::shared_ptr< Coefficients > | CoefficientsPtr |
typedef boost::shared_ptr< const Coefficients > | CoefficientsConstPtr |
typedef Storage< float4 >::type | Hypotheses |
typedef Storage< int >::type | Samples |
Public Member Functions | |
SampleConsensusModelPlane (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModelPlane. More... | |
void | getSamples (int &iterations, Indices &samples) |
Get 3 random non-collinear points as data samples and return them as point indices. More... | |
bool | computeModelCoefficients (const Indices &samples, Coefficients &model_coefficients) |
Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them in model_coefficients. More... | |
bool | generateModelHypotheses (Hypotheses &h, int max_iterations) |
virtual bool | generateModelHypotheses (Hypotheses &h, Samples &s, int max_iterations) |
int | selectWithinDistance (const Coefficients &model_coefficients, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil) |
Select all the points which respect the given model coefficients as inliers. More... | |
int | selectWithinDistance (const Hypotheses &h, int idx, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil) |
int | selectWithinDistance (Hypotheses &h, int idx, float threshold, IndicesPtr &inliers_stencil, float3 ¢roid) |
int | countWithinDistance (const Coefficients &model_coefficients, float threshold) |
int | countWithinDistance (const Hypotheses &h, int idx, float threshold) |
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SampleConsensusModel (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModel. More... | |
virtual | ~SampleConsensusModel () |
Destructor for base SampleConsensusModel. More... | |
virtual bool | isSampleInlier (IndicesPtr &inliers_stencil, Samples &samples, unsigned int &i) |
int | deleteIndices (const IndicesPtr &indices_stencil) |
int | deleteIndices (const Hypotheses &h, int idx, IndicesPtr &inliers, const IndicesPtr &inliers_delete) |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
IndicesPtr | getIndices () const |
Get a pointer to the vector of indices used. More... | |
void | setRadiusLimits (float min_radius, float max_radius) |
Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More... | |
void | getRadiusLimits (float &min_radius, float &max_radius) |
Get the minimum and maximum allowable radius limits for the model as set by the user. More... | |
boost::shared_ptr< typename Storage< float4 >::type > | getNormals () |
void | setNormals (boost::shared_ptr< typename Storage< float4 >::type > normals) |
Static Public Attributes | |
static const int | MAX_ITERATIONS_COLLINEAR = 1000 |
Additional Inherited Members | |
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PointCloudConstPtr | input_ |
A boost shared pointer to the point cloud data array. More... | |
boost::shared_ptr< typename Storage< float4 >::type > | normals_ |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
IndicesPtr | indices_stencil_ |
A pointer to the vector of point indices (stencil) to use. More... | |
unsigned int | nr_indices_in_stencil_ |
number of indices left in indices_stencil_ More... | |
float | radius_min_ |
The minimum and maximum radius limits for the model. More... | |
float | radius_max_ |
thrust::minstd_rand | rngl_ |
Linear-Congruent random number generator engine. More... | |
SampleConsensusModelPlane defines a model for 3D plane segmentation.
Definition at line 81 of file sac_model_plane.h.
typedef SampleConsensusModel<Storage>::Coefficients pcl::cuda::SampleConsensusModelPlane< Storage >::Coefficients |
Definition at line 96 of file sac_model_plane.h.
typedef SampleConsensusModel<Storage>::Hypotheses pcl::cuda::SampleConsensusModelPlane< Storage >::Hypotheses |
Definition at line 97 of file sac_model_plane.h.
typedef SampleConsensusModel<Storage>::Indices pcl::cuda::SampleConsensusModelPlane< Storage >::Indices |
Definition at line 92 of file sac_model_plane.h.
typedef SampleConsensusModel<Storage>::IndicesConstPtr pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesConstPtr |
Definition at line 94 of file sac_model_plane.h.
typedef SampleConsensusModel<Storage>::IndicesPtr pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesPtr |
Definition at line 93 of file sac_model_plane.h.
typedef SampleConsensusModel<Storage>::PointCloud pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloud |
Definition at line 88 of file sac_model_plane.h.
typedef PointCloud::ConstPtr pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudConstPtr |
Definition at line 90 of file sac_model_plane.h.
typedef PointCloud::Ptr pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudPtr |
Definition at line 89 of file sac_model_plane.h.
typedef boost::shared_ptr<SampleConsensusModelPlane> pcl::cuda::SampleConsensusModelPlane< Storage >::Ptr |
Definition at line 100 of file sac_model_plane.h.
typedef SampleConsensusModel<Storage>::Samples pcl::cuda::SampleConsensusModelPlane< Storage >::Samples |
Definition at line 98 of file sac_model_plane.h.
pcl::cuda::SampleConsensusModelPlane< Storage >::SampleConsensusModelPlane | ( | const PointCloudConstPtr & | cloud | ) |
Constructor for base SampleConsensusModelPlane.
cloud | the input point cloud dataset |
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Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them in model_coefficients.
The plane coefficients are: a, b, c, d (ax+by+cz+d=0)
samples | the point indices found as possible good candidates for creating a valid model |
model_coefficients | the resultant model coefficients |
Implements pcl::cuda::SampleConsensusModel< Storage >.
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Implements pcl::cuda::SampleConsensusModel< Storage >.
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Implements pcl::cuda::SampleConsensusModel< Storage >.
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Implements pcl::cuda::SampleConsensusModel< Storage >.
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Implements pcl::cuda::SampleConsensusModel< Storage >.
Definition at line 134 of file sac_model_plane.h.
References pcl::cuda::CountPlanarInlier::threshold.
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Get 3 random non-collinear points as data samples and return them as point indices.
iterations | the internal number of iterations used by SAC methods |
samples | the resultant model samples |
Implements pcl::cuda::SampleConsensusModel< Storage >.
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Select all the points which respect the given model coefficients as inliers.
model_coefficients | the coefficients of a plane model that we need to compute distances to |
threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
inliers | the resultant model inliers |
inliers_stencil |
Implements pcl::cuda::SampleConsensusModel< Storage >.
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Implements pcl::cuda::SampleConsensusModel< Storage >.
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Implements pcl::cuda::SampleConsensusModel< Storage >.
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Definition at line 221 of file sac_model_plane.h.