41 #include <pcl/filters/filter.h>
42 #include <pcl/ModelCoefficients.h>
44 #include <pcl/sample_consensus/model_types.h>
45 #include <pcl/sample_consensus/sac_model.h>
46 #include <pcl/sample_consensus/sac_model_circle.h>
47 #include <pcl/sample_consensus/sac_model_cylinder.h>
48 #include <pcl/sample_consensus/sac_model_cone.h>
49 #include <pcl/sample_consensus/sac_model_line.h>
50 #include <pcl/sample_consensus/sac_model_normal_plane.h>
51 #include <pcl/sample_consensus/sac_model_normal_sphere.h>
52 #include <pcl/sample_consensus/sac_model_parallel_plane.h>
53 #include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
54 #include <pcl/sample_consensus/sac_model_parallel_line.h>
55 #include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
56 #include <pcl/sample_consensus/sac_model_plane.h>
57 #include <pcl/sample_consensus/sac_model_sphere.h>
67 template<
typename Po
intT>
82 using Ptr = shared_ptr<ProjectInliers<PointT> >;
83 using ConstPtr = shared_ptr<const ProjectInliers<PointT> >;
108 return (model_type_);
133 copy_all_data_ = val;
140 return (copy_all_data_);
155 SampleConsensusModelPtr sacmodel_;
167 initSACModel (
int model_type);
191 ProjectInliers () : model_type_ (), copy_all_data_ (false), copy_all_fields_ (true)
193 filter_name_ =
"ProjectInliers";
212 return (model_type_);
237 copy_all_fields_ = val;
244 return (copy_all_fields_);
253 copy_all_data_ = val;
260 return (copy_all_data_);
280 SampleConsensusModelPtr sacmodel_;
283 initSACModel (
int model_type);
287 #ifdef PCL_NO_PRECOMPILE
288 #include <pcl/filters/impl/project_inliers.hpp>
Filter represents the base filter class.
shared_ptr< Filter< PointT > > Ptr
shared_ptr< const Filter< PointT > > ConstPtr
std::string filter_name_
The filter name.
PCLPointCloud2::Ptr PCLPointCloud2Ptr
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
typename PointCloud::Ptr PointCloudPtr
typename PointCloud::ConstPtr PointCloudConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
void setCopyAllFields(bool val)
Set whether all fields should be copied, or only the XYZ.
int getModelType() const
Get the type of SAC model used.
bool getCopyAllFields() const
Get whether all fields are being copied (true), or only XYZ (false).
void setCopyAllData(bool val)
Set whether all data will be returned, or only the projected inliers.
bool getCopyAllData() const
Get whether all data is being copied (true), or only the projected inliers (false).
bool copy_all_data_
True if all data will be returned, false if only the projected inliers.
ModelCoefficientsConstPtr model_
A pointer to the vector of model coefficients.
void applyFilter(PCLPointCloud2 &output) override
Abstract filter method.
int model_type_
The type of model to use (user given parameter).
ModelCoefficientsConstPtr getModelCoefficients() const
Get a pointer to the model coefficients.
void setModelCoefficients(const ModelCoefficientsConstPtr &model)
Provide a pointer to the model coefficients.
void setModelType(int model)
The type of model to use (user given parameter).
bool copy_all_fields_
True if all fields will be returned, false if only XYZ.
~ProjectInliers()
Empty destructor.
ProjectInliers()
Empty constructor.
ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a sepa...
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.
ProjectInliers()
Empty constructor.
bool getCopyAllData()
Get whether all data is being copied (true), or only the projected inliers (false).
void applyFilter(PointCloud &output) override
Project point indices into a separate PointCloud.
void setModelCoefficients(const ModelCoefficientsConstPtr &model)
Provide a pointer to the model coefficients.
ModelCoefficientsConstPtr getModelCoefficients()
Get a pointer to the model coefficients.
~ProjectInliers()
Empty destructor.
void setModelType(int model)
The type of model to use (user given parameter).
SampleConsensusModel represents the base model class.
shared_ptr< SampleConsensusModel< PointT > > Ptr
Defines all the PCL implemented PointT point type structures.
ModelCoefficients::ConstPtr ModelCoefficientsConstPtr
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr