43#include <pcl/sample_consensus/sac_model.h>
44#include <pcl/sample_consensus/sac_model_sphere.h>
45#include <pcl/sample_consensus/model_types.h>
68 template <
typename Po
intT,
typename Po
intNT>
131 const double threshold,
141 const double threshold)
const override;
149 std::vector<double> &distances)
const override;
164#ifdef PCL_NO_PRECOMPILE
165#include <pcl/sample_consensus/impl/sac_model_normal_sphere.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.
double radius_min_
The minimum and maximum radius limits for the model.
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.
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.
SampleConsensusModelNormalSphere defines a model for 3D sphere segmentation using additional surface ...
typename SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr PointCloudNConstPtr
typename SampleConsensusModel< PointT >::PointCloud PointCloud
~SampleConsensusModelNormalSphere()
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.
typename SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr PointCloudNPtr
SampleConsensusModelNormalSphere(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelNormalSphere.
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
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.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given sphere model.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_NORMAL_SPHERE).
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
SampleConsensusModelNormalSphere(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelNormalSphere.
SampleConsensusModelSphere defines a model for 3D sphere segmentation.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
#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.