42 #include <pcl/pcl_base.h> 43 #include <pcl/PointIndices.h> 44 #include <pcl/ModelCoefficients.h> 47 #include <pcl/sample_consensus/method_types.h> 48 #include <pcl/sample_consensus/sac.h> 50 #include <pcl/sample_consensus/model_types.h> 51 #include <pcl/sample_consensus/sac_model.h> 53 #include <pcl/search/search.h> 63 template <
typename Po
intT>
91 ,
radius_min_ (-std::numeric_limits<double>::max ())
233 inline Eigen::Vector3f
264 initSAC (
const int method_type);
320 template <
typename Po
intT,
typename Po
intNT>
435 getClassName ()
const override {
return (
"SACSegmentationFromNormals"); }
439 #ifdef PCL_NO_PRECOMPILE 440 #include <pcl/segmentation/impl/sac_segmentation.hpp> typename PointCloudN::Ptr PointCloudNPtr
double getNormalDistanceWeight() const
Get the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point n...
void setOptimizeCoefficients(bool optimize)
Set to true if a coefficient refinement is required.
double min_angle_
The minimum and maximum allowed opening angle of valid cone model.
shared_ptr< PointCloud< PointT > > Ptr
int max_iterations_
Maximum number of iterations before giving up (user given parameter).
bool random_
Set to true if we need a random seed.
void setSamplesMaxDist(const double &radius, SearchPtr search)
Set the maximum distance allowed when drawing random samples.
void setEpsAngle(double ea)
Set the angle epsilon (delta) threshold.
SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models...
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset...
SampleConsensusPtr getMethod() const
Get a pointer to the SAC method used.
typename SampleConsensusModel< PointT >::Ptr SampleConsensusModelPtr
double probability_
Desired probability of choosing at least one sample free from outliers (user given parameter)...
int threads_
The number of threads the scheduler should use, or a negative number if no parallelization is wanted...
SampleConsensusModelPtr getModel() const
Get a pointer to the SAC model used.
void setMethodType(int method)
The type of sample consensus method to use (user given parameter).
void setProbability(double probability)
Set the probability of choosing at least one sample free from outliers.
void setNumberOfThreads(const int nr_threads=-1)
Set the number of threads to use or turn off parallelization.
double getDistanceFromOrigin() const
Get the distance of a plane model from the origin.
double samples_radius_
The maximum distance of subsequent samples from the first (radius search)
virtual bool initSACModel(const int model_type)
Initialize the Sample Consensus model and set its parameters.
double threshold_
Distance to the model threshold (user given parameter).
typename pcl::search::Search< PointT >::Ptr SearchPtr
double radius_min_
The minimum and maximum radius limits for the model.
double distance_from_origin_
The distance from the template plane to the origin.
void getSamplesMaxDist(double &radius)
Get maximum distance allowed when drawing random samples.
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a model perpendicular to.
double getProbability() const
Get the probability of choosing at least one sample free from outliers.
int getModelType() const
Get the type of SAC model used.
void getMinMaxOpeningAngle(double &min_angle, double &max_angle)
Get the opening angle which we need minimum to validate a cone model.
int model_type_
The type of model to use (user given parameter).
shared_ptr< SampleConsensusModelFromNormals< PointT, PointNT > > Ptr
typename PointCloudN::ConstPtr PointCloudNConstPtr
SampleConsensusModelPtr model_
The model that needs to be segmented.
double eps_angle_
The maximum allowed difference between the model normal and the given axis.
SACSegmentationFromNormals(bool random=false)
Empty constructor.
double distance_weight_
The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point norma...
SearchPtr samples_radius_search_
The search object for picking subsequent samples using radius search.
Eigen::Vector3f axis_
The axis along which we need to search for a model perpendicular to.
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a model perpendicular to.
typename PointCloud::Ptr PointCloudPtr
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...
int getMaxIterations() const
Get maximum number of iterations before giving up.
int getMethodType() const
Get the type of sample consensus method used.
~SACSegmentation()
Empty destructor.
PointCloudNConstPtr getInputNormals() const
Get a pointer to the normals of the input XYZ point cloud dataset.
SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods...
bool optimize_coefficients_
Set to true if a coefficient refinement is required.
std::string getClassName() const override
Class get name method.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setModelType(int model)
The type of model to use (user given parameter).
virtual std::string getClassName() const
Class get name method.
typename SampleConsensus< PointT >::Ptr SampleConsensusPtr
SampleConsensusPtr sac_
The sample consensus segmentation method.
virtual void segment(PointIndices &inliers, ModelCoefficients &model_coefficients)
Base method for segmentation of a model in a PointCloud given by <setInputCloud (), setIndices ()>
bool initSACModel(const int model_type) override
Initialize the Sample Consensus model and set its parameters.
void setMaxIterations(int max_iterations)
Set the maximum number of iterations before giving up.
shared_ptr< const PointCloud< PointT > > ConstPtr
void setDistanceFromOrigin(const double d)
Set the distance we expect a plane model to be from the origin.
void getRadiusLimits(double &min_radius, double &max_radius)
Get the minimum and maximum allowable radius limits for the model as set by the user.
shared_ptr< pcl::search::Search< PointT > > Ptr
typename SampleConsensusModelFromNormals< PointT, PointNT >::Ptr SampleConsensusModelFromNormalsPtr
SACSegmentation(bool random=false)
Empty constructor.
void setMinMaxOpeningAngle(const double &min_angle, const double &max_angle)
Set the minimum opning angle for a cone model.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setDistanceThreshold(double threshold)
Distance to the model threshold (user given parameter).
shared_ptr< SampleConsensusModel< PointT > > Ptr
virtual void initSAC(const int method_type)
Initialize the Sample Consensus method and set its parameters.
double getEpsAngle() const
Get the epsilon (delta) model angle threshold in radians.
bool getOptimizeCoefficients() const
Get the coefficient refinement internal flag.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
double getDistanceThreshold() const
Get the distance to the model threshold.
SampleConsensus represents the base class.
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 n...
typename PointCloud::ConstPtr PointCloudConstPtr
int method_type_
The type of sample consensus method to use (user given parameter).