SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation. More...
#include <pcl/segmentation/sac_segmentation.h>
Public Member Functions |
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| SACSegmentationFromNormals (bool random=false) | |
| Empty constructor. More... |
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. More... |
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| void | setNormalDistanceWeight (double distance_weight) |
| Set the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. More... |
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| double | getNormalDistanceWeight () const |
| Get the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. More... |
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| void | setMinMaxOpeningAngle (const double &min_angle, const double &max_angle) |
| Set the minimum opning angle for a cone model. More... |
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| void | getMinMaxOpeningAngle (double &min_angle, double &max_angle) |
| Get the opening angle which we need minimum to validate a cone model. More... |
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| void | setDistanceFromOrigin (const double d) |
| Set the distance we expect a plane model to be from the origin. More... |
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| double | getDistanceFromOrigin () const |
| Get the distance of a plane model from the origin. More... |
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 Public Member Functions inherited from pcl::SACSegmentation< PointT > |
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| SACSegmentation (bool random=false) | |
| Empty constructor. More... |
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| ~SACSegmentation () | |
| Empty destructor. More... |
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| void | setModelType (int model) |
| The type of model to use (user given parameter). More... |
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| int | getModelType () const |
| Get the type of SAC model used. More... |
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| SampleConsensusPtr | getMethod () const |
| Get a pointer to the SAC method used. More... |
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| SampleConsensusModelPtr | getModel () const |
| Get a pointer to the SAC model used. More... |
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| void | setMethodType (int method) |
| The type of sample consensus method to use (user given parameter). More... |
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| int | getMethodType () const |
| Get the type of sample consensus method used. More... |
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| void | setDistanceThreshold (double threshold) |
| Distance to the model threshold (user given parameter). More... |
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| double | getDistanceThreshold () const |
| Get the distance to the model threshold. More... |
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| void | setMaxIterations (int max_iterations) |
| Set the maximum number of iterations before giving up. More... |
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| int | getMaxIterations () const |
| Get maximum number of iterations before giving up. More... |
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| void | setProbability (double probability) |
| Set the probability of choosing at least one sample free from outliers. More... |
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| double | getProbability () const |
| Get the probability of choosing at least one sample free from outliers. More... |
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| void | setNumberOfThreads (const int nr_threads=-1) |
| Set the number of threads to use or turn off parallelization. More... |
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| void | setOptimizeCoefficients (bool optimize) |
| Set to true if a coefficient refinement is required. More... |
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| bool | getOptimizeCoefficients () const |
| Get the coefficient refinement internal flag. More... |
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| void | setRadiusLimits (const double &min_radius, const double &max_radius) |
| Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More... |
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| void | getRadiusLimits (double &min_radius, double &max_radius) |
| Get the minimum and maximum allowable radius limits for the model as set by the user. More... |
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| void | setSamplesMaxDist (const double &radius, SearchPtr search) |
| Set the maximum distance allowed when drawing random samples. More... |
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| void | getSamplesMaxDist (double &radius) |
| Get maximum distance allowed when drawing random samples. More... |
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| void | setAxis (const Eigen::Vector3f &ax) |
| Set the axis along which we need to search for a model perpendicular to. More... |
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| Eigen::Vector3f | getAxis () const |
| Get the axis along which we need to search for a model perpendicular to. More... |
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| void | setEpsAngle (double ea) |
| Set the angle epsilon (delta) threshold. More... |
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| double | getEpsAngle () const |
| Get the epsilon (delta) model angle threshold in radians. More... |
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| virtual void | segment (PointIndices &inliers, ModelCoefficients &model_coefficients) |
| Base method for segmentation of a model in a PointCloud given by <setInputCloud (), setIndices ()> More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| bool | initSACModel (const int model_type) override |
| Initialize the Sample Consensus model and set its parameters. More... |
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| std::string | getClassName () const override |
| Class get name method. More... |
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| Protected Member Functions inherited from pcl::SACSegmentation< PointT > |
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| virtual void | initSAC (const int method_type) |
| Initialize the Sample Consensus method and set its parameters. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| double | distance_weight_ |
| The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. More... |
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| double | distance_from_origin_ |
| The distance from the template plane to the origin. More... |
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| double | min_angle_ |
| The minimum and maximum allowed opening angle of valid cone model. More... |
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| double | max_angle_ |
| Protected Attributes inherited from pcl::SACSegmentation< PointT > |
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| SampleConsensusModelPtr | model_ |
| The model that needs to be segmented. More... |
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| SampleConsensusPtr | sac_ |
| The sample consensus segmentation method. More... |
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| int | model_type_ |
| The type of model to use (user given parameter). More... |
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| int | method_type_ |
| The type of sample consensus method to use (user given parameter). More... |
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| double | threshold_ |
| Distance to the model threshold (user given parameter). More... |
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| bool | optimize_coefficients_ |
| Set to true if a coefficient refinement is required. More... |
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| double | radius_min_ |
| The minimum and maximum radius limits for the model. More... |
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| double | radius_max_ |
| double | samples_radius_ |
| The maximum distance of subsequent samples from the first (radius search) More... |
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| SearchPtr | samples_radius_search_ |
| The search object for picking subsequent samples using radius search. More... |
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| double | eps_angle_ |
| The maximum allowed difference between the model normal and the given axis. More... |
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| Eigen::Vector3f | axis_ |
| The axis along which we need to search for a model perpendicular to. More... |
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| int | max_iterations_ |
| Maximum number of iterations before giving up (user given parameter). More... |
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| int | threads_ |
| The number of threads the scheduler should use, or a negative number if no parallelization is wanted. More... |
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| double | probability_ |
| Desired probability of choosing at least one sample free from outliers (user given parameter). More... |
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| bool | random_ |
| Set to true if we need a random seed. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointT, typename PointNT>
class pcl::SACSegmentationFromNormals< PointT, PointNT >
SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and models that require the use of surface normals for estimation.
Definition at line 321 of file sac_segmentation.h.
Member Typedef Documentation
PointCloud
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloud = typename SACSegmentation<PointT>::PointCloud |
Definition at line 335 of file sac_segmentation.h.
PointCloudConstPtr
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 337 of file sac_segmentation.h.
PointCloudN
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudN = pcl::PointCloud<PointNT> |
Definition at line 339 of file sac_segmentation.h.
PointCloudNConstPtr
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
Definition at line 341 of file sac_segmentation.h.
PointCloudNPtr
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudNPtr = typename PointCloudN::Ptr |
Definition at line 340 of file sac_segmentation.h.
PointCloudPtr
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 336 of file sac_segmentation.h.
SampleConsensusModelFromNormalsPtr
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::SampleConsensusModelFromNormalsPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::Ptr |
Definition at line 345 of file sac_segmentation.h.
SampleConsensusModelPtr
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr |
Definition at line 344 of file sac_segmentation.h.
SampleConsensusPtr
| using pcl::SACSegmentationFromNormals< PointT, PointNT >::SampleConsensusPtr = typename SampleConsensus<PointT>::Ptr |
Definition at line 343 of file sac_segmentation.h.
Constructor & Destructor Documentation
SACSegmentationFromNormals()
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inline |
Empty constructor.
- Parameters
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[in] random if true set the random seed to the current time, else set to 12345 (default: false)
Definition at line 350 of file sac_segmentation.h.
Member Function Documentation
getClassName()
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inlineoverrideprotectedvirtual |
Class get name method.
Reimplemented from pcl::SACSegmentation< PointT >.
Definition at line 435 of file sac_segmentation.h.
getDistanceFromOrigin()
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inline |
Get the distance of a plane model from the origin.
Definition at line 409 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::distance_from_origin_.
getInputNormals()
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inline |
Get a pointer to the normals of the input XYZ point cloud dataset.
Definition at line 368 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::normals_.
getMinMaxOpeningAngle()
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inline |
Get the opening angle which we need minimum to validate a cone model.
Definition at line 395 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::max_angle_, and pcl::SACSegmentationFromNormals< PointT, PointNT >::min_angle_.
getNormalDistanceWeight()
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inline |
Get the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.
Definition at line 380 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::distance_weight_.
initSACModel()
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overrideprotectedvirtual |
Initialize the Sample Consensus model and set its parameters.
- Parameters
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[in] model_type the type of SAC model that is to be used
Reimplemented from pcl::SACSegmentation< PointT >.
Definition at line 349 of file sac_segmentation.hpp.
References pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getAxis(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::getAxis(), pcl::SampleConsensusModelCone< PointT, PointNT >::getAxis(), pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getDistanceFromOrigin(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::getEpsAngle(), pcl::SampleConsensusModelCone< PointT, PointNT >::getEpsAngle(), pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getEpsAngle(), pcl::SampleConsensusModelCone< PointT, PointNT >::getMinMaxOpeningAngle(), pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getNormalDistanceWeight(), pcl::SampleConsensusModel< PointT >::getRadiusLimits(), M_PI, pcl::SACMODEL_CONE, pcl::SACMODEL_CYLINDER, pcl::SACMODEL_NORMAL_PARALLEL_PLANE, pcl::SACMODEL_NORMAL_PLANE, pcl::SACMODEL_NORMAL_SPHERE, pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::setAxis(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::setAxis(), pcl::SampleConsensusModelCone< PointT, PointNT >::setAxis(), pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::setDistanceFromOrigin(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::setEpsAngle(), pcl::SampleConsensusModelCone< PointT, PointNT >::setEpsAngle(), pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::setEpsAngle(), pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setInputNormals(), pcl::SampleConsensusModelCone< PointT, PointNT >::setMinMaxOpeningAngle(), pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setNormalDistanceWeight(), and pcl::SampleConsensusModel< PointT >::setRadiusLimits().
setDistanceFromOrigin()
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inline |
Set the distance we expect a plane model to be from the origin.
- Parameters
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[in] d distance from the template plane model to the origin
Definition at line 405 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::distance_from_origin_.
setInputNormals()
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inline |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
- Parameters
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[in] normals the const shared pointer to a PointCloud message
Definition at line 364 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::normals_.
setMinMaxOpeningAngle()
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inline |
Set the minimum opning angle for a cone model.
- Parameters
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min_angle the opening angle which we need minimum to validate a cone model. max_angle the opening angle which we need maximum to validate a cone model.
Definition at line 387 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::max_angle_, and pcl::SACSegmentationFromNormals< PointT, PointNT >::min_angle_.
setNormalDistanceWeight()
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inline |
Set the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.
- Parameters
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[in] distance_weight the distance/angular weight
Definition at line 375 of file sac_segmentation.h.
References pcl::SACSegmentationFromNormals< PointT, PointNT >::distance_weight_.
Member Data Documentation
distance_from_origin_
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protected |
The distance from the template plane to the origin.
Definition at line 421 of file sac_segmentation.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::getDistanceFromOrigin(), and pcl::SACSegmentationFromNormals< PointT, PointNT >::setDistanceFromOrigin().
distance_weight_
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protected |
The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.
Definition at line 418 of file sac_segmentation.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::getNormalDistanceWeight(), and pcl::SACSegmentationFromNormals< PointT, PointNT >::setNormalDistanceWeight().
max_angle_
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protected |
Definition at line 425 of file sac_segmentation.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::getMinMaxOpeningAngle(), and pcl::SACSegmentationFromNormals< PointT, PointNT >::setMinMaxOpeningAngle().
min_angle_
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protected |
The minimum and maximum allowed opening angle of valid cone model.
Definition at line 424 of file sac_segmentation.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::getMinMaxOpeningAngle(), and pcl::SACSegmentationFromNormals< PointT, PointNT >::setMinMaxOpeningAngle().
normals_
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protected |
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition at line 413 of file sac_segmentation.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::getInputNormals(), and pcl::SACSegmentationFromNormals< PointT, PointNT >::setInputNormals().
The documentation for this class was generated from the following files:
- pcl/segmentation/sac_segmentation.h
- pcl/segmentation/impl/sac_segmentation.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_s_a_c_segmentation_from_normals.html
