38 #ifndef PCL_FILTERS_PROJECT_INLIERS_H_ 39 #define PCL_FILTERS_PROJECT_INLIERS_H_ 42 #include <pcl/filters/filter.h> 43 #include <pcl/ModelCoefficients.h> 45 #include <pcl/sample_consensus/model_types.h> 46 #include <pcl/sample_consensus/sac_model.h> 47 #include <pcl/sample_consensus/sac_model_circle.h> 48 #include <pcl/sample_consensus/sac_model_cylinder.h> 49 #include <pcl/sample_consensus/sac_model_cone.h> 50 #include <pcl/sample_consensus/sac_model_line.h> 51 #include <pcl/sample_consensus/sac_model_normal_plane.h> 52 #include <pcl/sample_consensus/sac_model_normal_sphere.h> 53 #include <pcl/sample_consensus/sac_model_parallel_plane.h> 54 #include <pcl/sample_consensus/sac_model_normal_parallel_plane.h> 55 #include <pcl/sample_consensus/sac_model_parallel_line.h> 56 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h> 57 #include <pcl/sample_consensus/sac_model_plane.h> 58 #include <pcl/sample_consensus/sac_model_sphere.h> 68 template<
typename Po
intT>
83 typedef boost::shared_ptr< ProjectInliers<PointT> >
Ptr;
84 typedef boost::shared_ptr< const ProjectInliers<PointT> >
ConstPtr;
88 ProjectInliers () : model_ (), sacmodel_ (), model_type_ (), copy_all_data_ (false)
109 return (model_type_);
134 copy_all_data_ = val;
141 return (copy_all_data_);
156 SampleConsensusModelPtr sacmodel_;
168 initSACModel (
int model_type);
192 ProjectInliers () : model_type_ (), copy_all_data_ (false), copy_all_fields_ (true), model_ (), sacmodel_ ()
194 filter_name_ =
"ProjectInliers";
213 return (model_type_);
238 copy_all_fields_ = val;
245 return (copy_all_fields_);
254 copy_all_data_ = val;
261 return (copy_all_data_);
281 SampleConsensusModelPtr sacmodel_;
284 initSACModel (
int model_type);
288 #ifdef PCL_NO_PRECOMPILE 289 #include <pcl/filters/impl/project_inliers.hpp> 292 #endif //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_ boost::shared_ptr< ::pcl::ModelCoefficients const > ModelCoefficientsConstPtr
bool copy_all_fields_
True if all fields will be returned, false if only XYZ.
virtual ~ProjectInliers()
Empty destructor.
ProjectInliers()
Empty constructor.
PointCloud::ConstPtr PointCloudConstPtr
bool copy_all_data_
True if all data will be returned, false if only the projected inliers.
ModelCoefficientsConstPtr getModelCoefficients() const
Get a pointer to the model coefficients.
void setModelCoefficients(const ModelCoefficientsConstPtr &model)
Provide a pointer to the model coefficients.
This file defines compatibility wrappers for low level I/O functions.
bool getCopyAllData()
Get whether all data is being copied (true), or only the projected inliers (false).
ProjectInliers()
Empty constructor.
ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a sepa...
boost::shared_ptr< ::pcl::PCLPointCloud2 const > PCLPointCloud2ConstPtr
bool getCopyAllFields() const
Get whether all fields are being copied (true), or only XYZ (false).
boost::shared_ptr< ::pcl::PCLPointCloud2 > Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
bool getCopyAllData() const
Get whether all data is being copied (true), or only the projected inliers (false).
PointCloud::Ptr PointCloudPtr
SampleConsensusModel represents the base model class.
Filter represents the base filter class.
Defines all the PCL implemented PointT point type structures.
void setModelType(int model)
The type of model to use (user given parameter).
void setModelCoefficients(const ModelCoefficientsConstPtr &model)
Provide a pointer to the model coefficients.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< ::pcl::PCLPointCloud2 const > ConstPtr
int getModelType() const
Get the type of SAC model used.
PointCloud represents the base class in PCL for storing collections of 3D points.
int getModelType()
Get the type of SAC model used.
void setCopyAllData(bool val)
Set whether all data will be returned, or only the projected inliers.
boost::shared_ptr< ::pcl::PCLPointCloud2 > PCLPointCloud2Ptr
void setCopyAllData(bool val)
Set whether all data will be returned, or only the projected inliers.
boost::shared_ptr< SampleConsensusModel > Ptr
ModelCoefficientsConstPtr model_
A pointer to the vector of model coefficients.
int model_type_
The type of model to use (user given parameter).
virtual ~ProjectInliers()
Empty destructor.
std::string filter_name_
The filter name.
boost::shared_ptr< ProjectInliers< PointT > > Ptr
boost::shared_ptr< const ProjectInliers< PointT > > ConstPtr
void setModelType(int model)
The type of model to use (user given parameter).
ModelCoefficientsConstPtr getModelCoefficients()
Get a pointer to the model coefficients.
void applyFilter(PointCloud &output)
Project point indices into a separate PointCloud.
void setCopyAllFields(bool val)
Set whether all fields should be copied, or only the XYZ.