SampleConsensusModelPlane defines a model for 3D plane segmentation. More...

#include </build/pcl-qv3n_B/pcl-1.8.1+dfsg1/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h>

Inheritance diagram for pcl::cuda::SampleConsensusModelPlane< Storage >:

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

Public Types inherited from pcl::cuda::SampleConsensusModel< Storage >
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 &centroid)

int	countWithinDistance (const Coefficients &model_coefficients, float threshold)

int	countWithinDistance (const Hypotheses &h, int idx, float threshold)

Public Member Functions inherited from pcl::cuda::SampleConsensusModel< Storage >
	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
Protected Attributes inherited from pcl::cuda::SampleConsensusModel< Storage >
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...

Detailed Description

template<template< typename > class Storage>
class pcl::cuda::SampleConsensusModelPlane< Storage >

SampleConsensusModelPlane defines a model for 3D plane segmentation.

Definition at line 81 of file sac_model_plane.h.

Member Typedef Documentation

◆ Coefficients

template<template< typename > class Storage>

typedef SampleConsensusModel<Storage>::Coefficients pcl::cuda::SampleConsensusModelPlane< Storage >::Coefficients

Definition at line 96 of file sac_model_plane.h.

◆ Hypotheses

template<template< typename > class Storage>

typedef SampleConsensusModel<Storage>::Hypotheses pcl::cuda::SampleConsensusModelPlane< Storage >::Hypotheses

Definition at line 97 of file sac_model_plane.h.

◆ Indices

template<template< typename > class Storage>

typedef SampleConsensusModel<Storage>::Indices pcl::cuda::SampleConsensusModelPlane< Storage >::Indices

Definition at line 92 of file sac_model_plane.h.

◆ IndicesConstPtr

template<template< typename > class Storage>

typedef SampleConsensusModel<Storage>::IndicesConstPtr pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesConstPtr

Definition at line 94 of file sac_model_plane.h.

◆ IndicesPtr

template<template< typename > class Storage>

typedef SampleConsensusModel<Storage>::IndicesPtr pcl::cuda::SampleConsensusModelPlane< Storage >::IndicesPtr

Definition at line 93 of file sac_model_plane.h.

◆ PointCloud

template<template< typename > class Storage>

typedef SampleConsensusModel<Storage>::PointCloud pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloud

Definition at line 88 of file sac_model_plane.h.

◆ PointCloudConstPtr

template<template< typename > class Storage>

typedef PointCloud::ConstPtr pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudConstPtr

Definition at line 90 of file sac_model_plane.h.

◆ PointCloudPtr

template<template< typename > class Storage>

typedef PointCloud::Ptr pcl::cuda::SampleConsensusModelPlane< Storage >::PointCloudPtr

Definition at line 89 of file sac_model_plane.h.

◆ Ptr

template<template< typename > class Storage>

typedef boost::shared_ptr<SampleConsensusModelPlane> pcl::cuda::SampleConsensusModelPlane< Storage >::Ptr

Definition at line 100 of file sac_model_plane.h.

◆ Samples

template<template< typename > class Storage>

typedef SampleConsensusModel<Storage>::Samples pcl::cuda::SampleConsensusModelPlane< Storage >::Samples

Definition at line 98 of file sac_model_plane.h.

Constructor & Destructor Documentation

◆ SampleConsensusModelPlane()

template<template< typename > class Storage>

pcl::cuda::SampleConsensusModelPlane< Storage >::SampleConsensusModelPlane ( const PointCloudConstPtr & cloud )

Constructor for base SampleConsensusModelPlane.

Parameters

cloud the input point cloud dataset

Member Function Documentation

◆ computeModelCoefficients()

template<template< typename > class Storage>

bool pcl::cuda::SampleConsensusModelPlane< Storage >::computeModelCoefficients	(	const Indices &	samples,
		Coefficients &	model_coefficients
	)

virtual

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)

Parameters

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 >.

◆ countWithinDistance() [1/2]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::countWithinDistance	(	const Coefficients &	model_coefficients,
		float	threshold
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

◆ countWithinDistance() [2/2]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::countWithinDistance	(	const Hypotheses &	h,
		int	idx,
		float	threshold
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

◆ generateModelHypotheses() [1/2]

template<template< typename > class Storage>

bool pcl::cuda::SampleConsensusModelPlane< Storage >::generateModelHypotheses	(	Hypotheses &	h,
		int	max_iterations
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

◆ generateModelHypotheses() [2/2]

template<template< typename > class Storage>

virtual bool pcl::cuda::SampleConsensusModelPlane< Storage >::generateModelHypotheses	(	Hypotheses &	h,
		Samples &	s,
		int	max_iterations
	)

inlinevirtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

Definition at line 134 of file sac_model_plane.h.

References pcl::cuda::CountPlanarInlier::threshold.

◆ getSamples()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensusModelPlane< Storage >::getSamples	(	int &	iterations,
		Indices &	samples
	)

virtual

Get 3 random non-collinear points as data samples and return them as point indices.

Parameters

iterations	the internal number of iterations used by SAC methods
samples	the resultant model samples

Note: assumes unique points!

Implements pcl::cuda::SampleConsensusModel< Storage >.

◆ selectWithinDistance() [1/3]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::selectWithinDistance	(	const Coefficients &	model_coefficients,
		float	threshold,
		IndicesPtr &	inliers,
		IndicesPtr &	inliers_stencil
	)

virtual

Select all the points which respect the given model coefficients as inliers.

Parameters

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 >.

◆ selectWithinDistance() [2/3]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::selectWithinDistance	(	const Hypotheses &	h,
		int	idx,
		float	threshold,
		IndicesPtr &	inliers,
		IndicesPtr &	inliers_stencil
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

◆ selectWithinDistance() [3/3]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModelPlane< Storage >::selectWithinDistance	(	Hypotheses &	h,
		int	idx,
		float	threshold,
		IndicesPtr &	inliers_stencil,
		float3 &	centroid
	)

virtual

Implements pcl::cuda::SampleConsensusModel< Storage >.

Member Data Documentation

◆ MAX_ITERATIONS_COLLINEAR

template<template< typename > class Storage>

const int pcl::cuda::SampleConsensusModelPlane< Storage >::MAX_ITERATIONS_COLLINEAR = 1000

static

Definition at line 221 of file sac_model_plane.h.

The documentation for this class was generated from the following file:

/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model_plane.h

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

template<template< typename > class Storage> class pcl::cuda::SampleConsensusModelPlane< Storage >

Member Typedef Documentation

◆ Coefficients

◆ Hypotheses

◆ Indices

◆ IndicesConstPtr

◆ IndicesPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ Samples

Constructor & Destructor Documentation

◆ SampleConsensusModelPlane()

Member Function Documentation

◆ computeModelCoefficients()

◆ countWithinDistance() [1/2]

◆ countWithinDistance() [2/2]

◆ generateModelHypotheses() [1/2]

◆ generateModelHypotheses() [2/2]

◆ getSamples()

◆ selectWithinDistance() [1/3]

◆ selectWithinDistance() [2/3]

◆ selectWithinDistance() [3/3]

Member Data Documentation

◆ MAX_ITERATIONS_COLLINEAR

template<template< typename > class Storage>
class pcl::cuda::SampleConsensusModelPlane< Storage >