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)
const;
155 std::vector<double> &distances)
const;
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.
pcl::PointCloud< PointNT >::ConstPtr PointCloudNConstPtr
SampleConsensusModelNormalPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelNormalPlane.
This file defines compatibility wrappers for low level I/O functions.
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.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const
Compute all distances from the cloud data to a given plane model.
std::string model_name_
The model name.
pcl::PointCloud< PointT >::Ptr PointCloudPtr
SampleConsensusModel< PointT >::PointCloud PointCloud
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const
Count all the points which respect the given model coefficients as inliers.
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...
pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
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.
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.