PCLSampleConsensusModels

MLModule

genre	PCLSampleConsensus
author	Wolf Spindler
package	FMEstable/PCL
dll	MLPCLSampleConsensus
definition	MLPCLSampleConsensus.def
see also	PCLSampleConsensus
inherits from	PCLModule
keywords	detect, search, find, models, registration, circle, circle2d, circle3d, cone, cylinder, line, sphere, stick, registration, parallel, normal, perpenticular

Purpose

PCLSampleConsensusModels is a wrappers around most Sample Consensus models of the PCL. A model created with this module can be passed to other modules (for example PCLSampleConsensus) which then can try to perform object searches or segmentations in other point clouds. Note that not all models can be used on all point types and with all parameters. See the documentation of the modules to check for limitations. See pcl::SampleConsensusModel for the base class of all PCL Sample consensus models.

Windows

Default Panel

Input Fields

inputPCLObject0

name: inputPCLObject0, type: MLBase

This input is used if Model Type is Registration. The it will be fed into the created pcl::SampleConsensusModelRegistration model instance as target point cloud.

Output Fields

outputSacMLModuleBase

name: outputSacMLModuleBase, type: MLBase

Passes a pointer to this PCLSampleConsensusModels to make it usable by other modules, for example by PCLSampleConsensus which has the appropriate input PCLSampleConsensus.inputSacMLModule. These connected modules then can create models with the help of PCLSampleConsensusModels. This connector does not provide any (point) indices.

Parameter Fields

Field Index

Axis: Vector3

Eps Angle: Double

Eps Dist: Double

Max Opening Angle: Double

Min Opening Angle: Double

Model Type: Enum

Normal Distance Weight: Double

Status: String

Visible Fields

Status

name: status, type: String, persistent: no

Unused in this module.

see also PCLModule.status

Eps Angle

name: epsAngle, type: Double, default: 0

The Eps Angle parameter used as angle epsilon by the models Cone, Cylinder, ParallelPlane, NormalPlane, ParallelLine, ParallelPlane, and PerpendicularPlane.

Eps Dist

name: epsDist, type: Double, default: 0

The Eps Dist parameter used by as distance epsilon (delta) by the model NormalParallelPlane.

Normal Distance Weight

name: normalDistanceWeight, type: Double, default: 0

The normal angular distance weight needed by some models (Cone, Cylinder, NormalParallelLine, NormalPlane).

Axis

name: axis, type: Vector3, default: 0 0 0

The Axis vector parameter is the axis along which we need to search for a (for example cone) direction or for a plane perpendicular used by the models Cone, Cylinder, ParallelPlane, NormalPlane, ParallelLine, ParallelPlane, and PerpendicularPlane.

Min Opening Angle

name: minOpeningAngle, type: Double, default: -1.79769313486232e+308

The Min Opening Angle is the minimum allowable opening angle, set as parameter in all models.

Max Opening Angle

name: maxOpeningAngle, type: Double, default: 1.79769313486232e+308

The Max Opening Angle is the maximum allowable opening angle, set as parameter in all models.

Model Type

name: modelType, type: Enum, default: Circle

The selector for the desired model type to be created when connected modules request one over the outputSacMLModuleBase connector.

Values:

Title	Name	Description
​Circle	​Circle	​Selects the creation of a 2D circle model. See pcl::SampleConsensusModelCircle2D for details.
​Circle3d	​Circle3d	​Selects the creation of a 3D circle model. See pcl::SampleConsensusModelCircle3D for details.
​Cone	​Cone	​Selects the creation of a cone model. Requires point types with normal fields/members. See pcl::SampleConsensusModelCone for details.
​Cylinder	​Cylinder	​Selects the creation of a cone model. Requires point types with normal fields/members. See pcl::SampleConsensusModelCylinder for details.
​Line	​Line	​Selects the creation of a line model. See pcl::SampleConsensusModelLine for details.
​Normal Parallel Plane	​NormalParallelPlane	​Selects the creation of a normal parallel plane model. Requires point types with normal fields/members. See pcl::SampleConsensusModelNormalParallelPlane for details.
​Normal Plane	​NormalPlane	​Selects the creation of a normal plane model. Requires point types with normal fields/members. See pcl::SampleConsensusModelNormalPlane for details.
​Parallel Line	​ParallelLine	​Selects the creation of a parallel line model. See pcl::SampleConsensusModelParallelLine for details.
​Parallel Plane	​ParallelPlane	​Selects the creation of a parallel plane model. See pcl::SampleConsensusModelParallelPlane for details.
​Perpendicular Plane	​PerpendicularPlane	​Selects the creation of a perpendicular plane model. See pcl::SampleConsensusModelPerpendicularPlane for details.
​Plane	​Plane	​Selects the creation of a plane model. See pcl::SampleConsensusModelPlane for details.
​Registration	​Registration	​Selects the creation of a registration model which takes the input point cloud from inputPCLObject0 as model. See pcl::SampleConsensusModelRegistration for details.
​Sphere	​Sphere	​Selects the creation of a sphere model. See pcl::SampleConsensusModelSphere for details.
​Stick	​Stick	​Selects the creation of a stick model. See pcl::SampleConsensusModelStick for details.