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> 69 template <
typename Po
intT,
typename Po
intNT>
89 using Ptr = shared_ptr<SampleConsensusModelNormalSphere<PointT, PointNT> >;
90 using ConstPtr = shared_ptr<const SampleConsensusModelNormalSphere<PointT, PointNT>>;
132 const double threshold,
142 const double threshold)
const override;
150 std::vector<double> &distances)
const override;
165 #ifdef PCL_NO_PRECOMPILE 166 #include <pcl/sample_consensus/impl/sac_model_normal_sphere.hpp> Defines functions, macros and traits for allocating and using memory.
unsigned int model_size_
The number of coefficients in the model.
SampleConsensusModelNormalSphere defines a model for 3D sphere segmentation using additional surface ...
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
typename PointCloud::Ptr 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.
SampleConsensusModelNormalSphere(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelNormalSphere.
Define standard C methods and C++ classes that are common to all methods.
~SampleConsensusModelNormalSphere()
Empty destructor.
typename pcl::PointCloud< PointNT >::ConstPtr PointCloudNConstPtr
SampleConsensusModel represents the base model class.
std::string model_name_
The model name.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_NORMAL_SPHERE).
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 PointCloud::ConstPtr PointCloudConstPtr
SampleConsensusModelFromNormals represents the base model class for models that require the use of su...
IndicesAllocator<> Indices
Type used for indices in PCL.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
SampleConsensusModelNormalSphere(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelNormalSphere.
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< PointT > > Ptr
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.
typename pcl::PointCloud< PointNT >::Ptr PointCloudNPtr
SampleConsensusModelSphere defines a model for 3D sphere segmentation.
Defines all the PCL and non-PCL macros used.
unsigned int sample_size_
The size of a sample from which the model is computed.