SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints. More...

#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>

Inheritance diagram for pcl::SampleConsensusModelPerpendicularPlane< PointT >:

Collaboration diagram for pcl::SampleConsensusModelPerpendicularPlane< PointT >:

Public Types
typedef SampleConsensusModelPlane < PointT >::PointCloud	PointCloud

typedef SampleConsensusModelPlane < PointT >::PointCloudPtr	PointCloudPtr

typedef SampleConsensusModelPlane < PointT >::PointCloudConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < SampleConsensusModelPerpendicularPlane >	Ptr

Public Types inherited from pcl::SampleConsensusModelPlane< PointT >
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud

typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr

typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < SampleConsensusModelPlane >	Ptr

Public Types inherited from pcl::SampleConsensusModel< PointT >
typedef pcl::PointCloud< PointT >	PointCloud

typedef pcl::PointCloud < PointT >::ConstPtr	PointCloudConstPtr

typedef pcl::PointCloud < PointT >::Ptr	PointCloudPtr

typedef pcl::search::Search < PointT >::Ptr	SearchPtr

typedef boost::shared_ptr < SampleConsensusModel >	Ptr

typedef boost::shared_ptr < const SampleConsensusModel >	ConstPtr

Public Member Functions
	SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelPerpendicularPlane. More...

	SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelPerpendicularPlane. More...

virtual	~SampleConsensusModelPerpendicularPlane ()
	Empty destructor. More...

void	setAxis (const Eigen::Vector3f &ax)
	Set the axis along which we need to search for a plane perpendicular to. More...

Eigen::Vector3f	getAxis ()
	Get the axis along which we need to search for a plane perpendicular to. More...

void	setEpsAngle (const double ea)
	Set the angle epsilon (delta) threshold. More...

double	getEpsAngle ()
	Get the angle epsilon (delta) threshold. More...

void	selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
	Select all the points which respect the given model coefficients as inliers. More...

virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers. More...

void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given plane model. More...

pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE). More...

Public Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
	SampleConsensusModelPlane (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelPlane. More...

	SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelPlane. More...

virtual	~SampleConsensusModelPlane ()
	Empty destructor. More...

bool	computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)
	Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them internally in model_coefficients_. More...

void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given plane model. More...

void	selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
	Select all the points which respect the given model coefficients as inliers. More...

void	optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
	Recompute the plane coefficients using the given inlier set and return them to the user. More...

void	projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true)
	Create a new point cloud with inliers projected onto the plane model. More...

bool	doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold)
	Verify whether a subset of indices verifies the given plane model coefficients. More...

pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_PLANE). More...

Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModel. More...

	SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModel. More...

virtual	~SampleConsensusModel ()
	Destructor for base SampleConsensusModel. More...

virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get a set of random data samples and return them as point indices. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const boost::shared_ptr< std::vector< int > > &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const std::vector< int > &indices)
	Provide the vector of indices that represents the input data. More...

boost::shared_ptr< std::vector < int > >	getIndices () const
	Get a pointer to the vector of indices used. More...

unsigned int	getSampleSize () const
	Return the size of a sample from which a model is computed. More...

void	setRadiusLimits (const double &min_radius, const double &max_radius)
	Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More...

void	getRadiusLimits (double &min_radius, double &max_radius)
	Get the minimum and maximum allowable radius limits for the model as set by the user. More...

void	setSamplesMaxDist (const double &radius, SearchPtr search)
	Set the maximum distance allowed when drawing random samples. More...

void	getSamplesMaxDist (double &radius)
	Get maximum distance allowed when drawing random samples. More...

double	computeVariance (const std::vector< double > &error_sqr_dists)
	Compute the variance of the errors to the model. More...

double	computeVariance ()
	Compute the variance of the errors to the model from the internally estimated vector of distances. More...

Protected Member Functions
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints. More...

Protected Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints. More...

Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (bool random=false)
	Empty constructor for base SampleConsensusModel. More...

void	drawIndexSample (std::vector< int > &sample)
	Fills a sample array with random samples from the indices_ vector. More...

void	drawIndexSampleRadius (std::vector< int > &sample)
	Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More...

int	rnd ()
	Boost-based random number generator. More...

Protected Attributes
Eigen::Vector3f	axis_
	The axis along which we need to search for a plane perpendicular to. More...

double	eps_angle_
	The maximum allowed difference between the plane normal and the given axis. More...

Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
PointCloudConstPtr	input_
	A boost shared pointer to the point cloud data array. More...

boost::shared_ptr< std::vector < int > >	indices_
	A pointer to the vector of point indices to use. More...

double	radius_min_
	The minimum and maximum radius limits for the model. More...

double	radius_max_

double	samples_radius_
	The maximum distance of subsequent samples from the first (radius search) More...

SearchPtr	samples_radius_search_
	The search object for picking subsequent samples using radius search. More...

std::vector< int >	shuffled_indices_
	Data containing a shuffled version of the indices. More...

boost::mt19937	rng_alg_
	Boost-based random number generator algorithm. More...

boost::shared_ptr < boost::uniform_int<> >	rng_dist_
	Boost-based random number generator distribution. More...

boost::shared_ptr < boost::variate_generator < boost::mt19937 &, boost::uniform_int<> > >	rng_gen_
	Boost-based random number generator. More...

std::vector< double >	error_sqr_dists_
	A vector holding the distances to the computed model. More...

Additional Inherited Members
Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
static const unsigned int	max_sample_checks_ = 1000
	The maximum number of samples to try until we get a good one. More...

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelPerpendicularPlane< PointT >

SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints.

The plane must be perpendicular to an user-specified axis (setAxis), up to an user-specified angle threshold (setEpsAngle). The model coefficients are defined as:

a : the X coordinate of the plane's normal (normalized)
b : the Y coordinate of the plane's normal (normalized)
c : the Z coordinate of the plane's normal (normalized)
d : the fourth Hessian component of the plane's equation

Code example for a plane model, perpendicular (within a 15 degrees tolerance) with the Z axis:

* SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud);
* model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
* model.setEpsAngle (pcl::deg2rad (15));
* 

Note: Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!

Author: Radu B. Rusu

Definition at line 71 of file sac_model_perpendicular_plane.h.

Member Typedef Documentation

template<typename PointT>

typedef SampleConsensusModelPlane<PointT>::PointCloud pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloud

Definition at line 74 of file sac_model_perpendicular_plane.h.

template<typename PointT>

typedef SampleConsensusModelPlane<PointT>::PointCloudConstPtr pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudConstPtr

Definition at line 76 of file sac_model_perpendicular_plane.h.

template<typename PointT>

typedef SampleConsensusModelPlane<PointT>::PointCloudPtr pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudPtr

Definition at line 75 of file sac_model_perpendicular_plane.h.

template<typename PointT>

typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> pcl::SampleConsensusModelPerpendicularPlane< PointT >::Ptr

Definition at line 78 of file sac_model_perpendicular_plane.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane	(	const PointCloudConstPtr &	cloud,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelPerpendicularPlane.

Parameters

[in]	cloud	the input point cloud dataset
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 84 of file sac_model_perpendicular_plane.h.

template<typename PointT>

pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelPerpendicularPlane.

Parameters

[in]	cloud	the input point cloud dataset
[in]	indices	a vector of point indices to be used from cloud
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 97 of file sac_model_perpendicular_plane.h.

template<typename PointT>

virtual pcl::SampleConsensusModelPerpendicularPlane< PointT >::~SampleConsensusModelPerpendicularPlane ( )

inlinevirtual

Empty destructor.

Definition at line 107 of file sac_model_perpendicular_plane.h.

Member Function Documentation

template<typename PointT >

int pcl::SampleConsensusModelPerpendicularPlane< PointT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)

virtual

Count all the points which respect the given model coefficients as inliers.

Parameters

[in]	model_coefficients	the coefficients of a model that we need to compute distances to
[in]	threshold	maximum admissible distance threshold for determining the inliers from the outliers

Returns: the resultant number of inliers

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 63 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>

Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane< PointT >::getAxis ( )

inline

Get the axis along which we need to search for a plane perpendicular to.

Definition at line 117 of file sac_model_perpendicular_plane.h.

References pcl::SampleConsensusModelPerpendicularPlane< PointT >::axis_.

Referenced by pcl::SACSegmentation< PointT >::initSACModel().

template<typename PointT >

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::getDistancesToModel	(	const Eigen::VectorXf &	model_coefficients,
		std::vector< double > &	distances
	)

virtual

Compute all distances from the cloud data to a given plane model.

Parameters

[in]	model_coefficients	the coefficients of a plane model that we need to compute distances to
[out]	distances	the resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 75 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>

double pcl::SampleConsensusModelPerpendicularPlane< PointT >::getEpsAngle ( )

inline

Get the angle epsilon (delta) threshold.

Definition at line 128 of file sac_model_perpendicular_plane.h.

References pcl::SampleConsensusModelPerpendicularPlane< PointT >::eps_angle_.

Referenced by pcl::SACSegmentation< PointT >::initSACModel().

template<typename PointT>

pcl::SacModel pcl::SampleConsensusModelPerpendicularPlane< PointT >::getModelType ( ) const

inlinevirtual

Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 160 of file sac_model_perpendicular_plane.h.

References pcl::SACMODEL_PERPENDICULAR_PLANE.

template<typename PointT >

bool pcl::SampleConsensusModelPerpendicularPlane< PointT >::isModelValid ( const Eigen::VectorXf & model_coefficients )

protectedvirtual

Check whether a model is valid given the user constraints.

Parameters

[in] model_coefficients the set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 90 of file sac_model_perpendicular_plane.hpp.

References pcl::getAngle3D().

template<typename PointT >

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		std::vector< int > &	inliers
	)

virtual

Select all the points which respect the given model coefficients as inliers.

Parameters

[in]	model_coefficients	the coefficients of a plane model that we need to compute distances to
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers
[out]	inliers	the resultant model inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 48 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::setAxis ( const Eigen::Vector3f & ax )

inline

Set the axis along which we need to search for a plane perpendicular to.

Parameters

[in] ax the axis along which we need to search for a plane perpendicular to

Definition at line 113 of file sac_model_perpendicular_plane.h.

References pcl::SampleConsensusModelPerpendicularPlane< PointT >::axis_.

Referenced by pcl::SACSegmentation< PointT >::initSACModel().

template<typename PointT>

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::setEpsAngle ( const double ea )

inline

Set the angle epsilon (delta) threshold.

Parameters

[in] ea the maximum allowed difference between the plane normal and the given axis.

Note: You need to specify an angle > 0 in order to activate the axis-angle constraint!

Definition at line 124 of file sac_model_perpendicular_plane.h.

References pcl::SampleConsensusModelPerpendicularPlane< PointT >::eps_angle_.

Referenced by pcl::SACSegmentation< PointT >::initSACModel().

Member Data Documentation

template<typename PointT>

Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane< PointT >::axis_

protected

The axis along which we need to search for a plane perpendicular to.

Definition at line 170 of file sac_model_perpendicular_plane.h.

Referenced by pcl::SampleConsensusModelPerpendicularPlane< PointT >::getAxis(), and pcl::SampleConsensusModelPerpendicularPlane< PointT >::setAxis().

template<typename PointT>

double pcl::SampleConsensusModelPerpendicularPlane< PointT >::eps_angle_

protected

The maximum allowed difference between the plane normal and the given axis.

Definition at line 173 of file sac_model_perpendicular_plane.h.

Referenced by pcl::SampleConsensusModelPerpendicularPlane< PointT >::getEpsAngle(), and pcl::SampleConsensusModelPerpendicularPlane< PointT >::setEpsAngle().

The documentation for this class was generated from the following files:

/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h
/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/sample_consensus/include/pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointT> class pcl::SampleConsensusModelPerpendicularPlane< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::SampleConsensusModelPerpendicularPlane< PointT >