45#include <pcl/sample_consensus/sac_model.h>
46#include <pcl/sample_consensus/sac_model_plane.h>
47#include <pcl/sample_consensus/model_types.h>
75 template <
typename Po
intT,
typename Po
intNT>
137 const double threshold,
148 const double threshold)
const override;
156 std::vector<double> &distances)
const override;
173 const double threshold,
174 std::size_t i = 0)
const;
176#if defined (__SSE__) && defined (__SSE2__) && defined (__SSE4_1__)
182 const double threshold,
183 std::size_t i = 0)
const;
186#if defined (__AVX__) && defined (__AVX2__)
192 const double threshold,
193 std::size_t i = 0)
const;
198#ifdef PCL_NO_PRECOMPILE
199#include <pcl/sample_consensus/impl/sac_model_normal_plane.hpp>
Iterator class for point clouds with or without given indices.
PointCloud represents the base class in PCL for storing collections of 3D points.
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
typename pcl::PointCloud< PointNT >::ConstPtr PointCloudNConstPtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudNPtr
double normal_distance_weight_
The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point norma...
SampleConsensusModel represents the base model class.
unsigned int sample_size_
The size of a sample from which the model is computed.
typename PointCloud::ConstPtr PointCloudConstPtr
IndicesPtr indices_
A pointer to the vector of point indices to use.
PointCloudConstPtr input_
A boost shared pointer to the point cloud data array.
virtual bool isModelValid(const Eigen::VectorXf &model_coefficients) const
Check whether a model is valid given the user constraints.
std::string model_name_
The model name.
unsigned int model_size_
The number of coefficients in the model.
typename PointCloud::Ptr PointCloudPtr
std::vector< double > error_sqr_dists_
A vector holding the distances to the computed model.
SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
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.
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
~SampleConsensusModelNormalPlane()
Empty destructor.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
SampleConsensusModelNormalPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelNormalPlane.
typename SampleConsensusModel< PointT >::PointCloud PointCloud
SampleConsensusModelNormalPlane(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelNormalPlane.
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.
std::size_t countWithinDistanceStandard(const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
This implementation uses no SIMD instructions.
typename SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr PointCloudNPtr
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_NORMAL_PLANE).
typename SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr PointCloudNConstPtr
SampleConsensusModelPlane defines a model for 3D plane segmentation.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
IndicesAllocator<> Indices
Type used for indices in PCL.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.