Detailed Description
Defines plane extraction parameter.
- Note
- This module first applies ransac estimation to fit a 3D ground plane. It also checks the validility of the plane fitting via non-linear optimization. It will indicate a invalid plane fitting if the optimization failed to converge.
Definition at line 59 of file PointCloudPlaneExtractor.h.
Data Fields | |
| uint32_t | maxInputPointCount |
| maximum number of points in input point cloud More... | |
| uint32_t | ransacIterationCount |
| ransac iteration number More... | |
| uint32_t | optimizerIterationCount |
| optimization iteration number More... | |
| float32_t | minInlierFraction |
| minimum inlier percentage for ransac plane fitting More... | |
| float32_t | maxInlierDistance |
| maximum inlier distance to the estimated plane More... | |
| dwMatrix3f | rotation |
| rotation that aligns the point cloud with ground plane More... | |
| bool | cudaPipelineEnabled |
| Setting to true will process with CUDA pipeline. More... | |
| dwPlaneExtractorBoxFilterParams | boxFilterParams |
| box filter parameters More... | |
Field Documentation
◆ boxFilterParams
| dwPlaneExtractorBoxFilterParams dwPointCloudPlaneExtractorParams::boxFilterParams |
box filter parameters
Definition at line 68 of file PointCloudPlaneExtractor.h.
◆ cudaPipelineEnabled
| bool dwPointCloudPlaneExtractorParams::cudaPipelineEnabled |
Setting to true will process with CUDA pipeline.
Definition at line 67 of file PointCloudPlaneExtractor.h.
◆ maxInlierDistance
| float32_t dwPointCloudPlaneExtractorParams::maxInlierDistance |
maximum inlier distance to the estimated plane
Definition at line 65 of file PointCloudPlaneExtractor.h.
◆ maxInputPointCount
| uint32_t dwPointCloudPlaneExtractorParams::maxInputPointCount |
maximum number of points in input point cloud
Definition at line 61 of file PointCloudPlaneExtractor.h.
◆ minInlierFraction
| float32_t dwPointCloudPlaneExtractorParams::minInlierFraction |
minimum inlier percentage for ransac plane fitting
Definition at line 64 of file PointCloudPlaneExtractor.h.
◆ optimizerIterationCount
| uint32_t dwPointCloudPlaneExtractorParams::optimizerIterationCount |
optimization iteration number
Definition at line 63 of file PointCloudPlaneExtractor.h.
◆ ransacIterationCount
| uint32_t dwPointCloudPlaneExtractorParams::ransacIterationCount |
ransac iteration number
Definition at line 62 of file PointCloudPlaneExtractor.h.
◆ rotation
| dwMatrix3f dwPointCloudPlaneExtractorParams::rotation |
rotation that aligns the point cloud with ground plane
Definition at line 66 of file PointCloudPlaneExtractor.h.
The documentation for this struct was generated from the following file: