38 #ifndef PCL_FILTERS_IMPL_PROJECT_INLIERS_H_ 39 #define PCL_FILTERS_IMPL_PROJECT_INLIERS_H_ 41 #include <pcl/filters/project_inliers.h> 44 template <
typename Po
intT>
void 47 if (indices_->empty ())
49 PCL_WARN (
"[pcl::%s::applyFilter] No indices given or empty indices!\n", getClassName ().c_str ());
57 Eigen::VectorXf model_coefficients (model_->values.size ());
58 for (
size_t i = 0; i < model_->values.size (); ++i)
59 model_coefficients[i] = model_->values[i];
62 if (!initSACModel (model_type_))
64 PCL_ERROR (
"[pcl::%s::applyFilter] Error initializing the SAC model!\n", getClassName ().c_str ());
70 sacmodel_->projectPoints (*indices_, model_coefficients, output,
true);
72 sacmodel_->projectPoints (*indices_, model_coefficients, output,
false);
76 template <
typename Po
intT>
bool 156 PCL_ERROR (
"[pcl::%s::initSACModel] No valid model given!\n", getClassName ().c_str ());
163 #define PCL_INSTANTIATE_ProjectInliers(T) template class PCL_EXPORTS pcl::ProjectInliers<T>; 165 #endif // PCL_FILTERS_IMPL_PROJECT_INLIERS_H_
SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
SampleConsensusModelLine defines a model for 3D line segmentation.
SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular ...
ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a sepa...
SampleConsensusModelNormalSphere defines a model for 3D sphere segmentation using additional surface ...
uint32_t height
The point cloud height (if organized as an image-structure).
SampleConsensusModelCircle2D defines a model for 2D circle segmentation on the X-Y plane...
uint32_t width
The point cloud width (if organized as an image-structure).
SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...
SampleConsensusModelCone defines a model for 3D cone segmentation.
SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface no...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
SampleConsensusModelPlane defines a model for 3D plane segmentation.
void applyFilter(PointCloud &output)
Project point indices into a separate PointCloud.
SampleConsensusModelSphere defines a model for 3D sphere segmentation.
SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional su...
SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional ang...