SampleConsensusModelPlane defines a model for 3D plane segmentation. More...

#include <pcl/sample_consensus/sac_model_plane.h>

Inheritance diagram for pcl::SampleConsensusModelPlane< PointT >:

Collaboration diagram for pcl::SampleConsensusModelPlane< PointT >:

Public Types
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
	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...

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	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::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...

Additional Inherited Members
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...

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::SampleConsensusModelPlane< PointT >

SampleConsensusModelPlane defines a model for 3D plane segmentation.

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

Author: Radu B. Rusu

Definition at line 136 of file sac_model_plane.h.

Member Typedef Documentation

template<typename PointT>

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

Definition at line 143 of file sac_model_plane.h.

template<typename PointT>

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

Definition at line 145 of file sac_model_plane.h.

template<typename PointT>

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

Definition at line 144 of file sac_model_plane.h.

template<typename PointT>

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

Definition at line 147 of file sac_model_plane.h.

Constructor & Destructor Documentation

template<typename PointT>

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

inline

Constructor for base SampleConsensusModelPlane.

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 153 of file sac_model_plane.h.

template<typename PointT>

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

inline

Constructor for base SampleConsensusModelPlane.

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 161 of file sac_model_plane.h.

template<typename PointT>

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

inlinevirtual

Empty destructor.

Definition at line 167 of file sac_model_plane.h.

Member Function Documentation

template<typename PointT >

bool pcl::SampleConsensusModelPlane< PointT >::computeModelCoefficients	(	const std::vector< int > &	samples,
		Eigen::VectorXf &	model_coefficients
	)

virtual

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_.

The plane coefficients are: a, b, c, d (ax+by+cz+d=0)

Parameters

[in]	samples	the point indices found as possible good candidates for creating a valid model
[out]	model_coefficients	the resultant model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 69 of file sac_model_plane.hpp.

template<typename PointT >

int pcl::SampleConsensusModelPlane< 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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 183 of file sac_model_plane.hpp.

template<typename PointT >

bool pcl::SampleConsensusModelPlane< PointT >::doSamplesVerifyModel	(	const std::set< int > &	indices,
		const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)

virtual

Verify whether a subset of indices verifies the given plane model coefficients.

Parameters

[in]	indices	the data indices that need to be tested against the plane model
[in]	model_coefficients	the plane model coefficients
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 345 of file sac_model_plane.hpp.

template<typename PointT >

void pcl::SampleConsensusModelPlane< 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 112 of file sac_model_plane.hpp.

template<typename PointT>

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

inlinevirtual

Return an unique id for this model (SACMODEL_PLANE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 242 of file sac_model_plane.h.

References pcl::SACMODEL_PLANE.

template<typename PointT>

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

inlineprotectedvirtual

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 249 of file sac_model_plane.h.

template<typename PointT >

void pcl::SampleConsensusModelPlane< PointT >::optimizeModelCoefficients	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)

virtual

Recompute the plane coefficients using the given inlier set and return them to the user.

Note: : these are the coefficients of the plane model after refinement (eg. after SVD)

Parameters

[in]	inliers	the data inliers found as supporting the model
[in]	model_coefficients	the initial guess for the model coefficients
[out]	optimized_coefficients	the resultant recomputed coefficients after non-linear optimization

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 212 of file sac_model_plane.hpp.

References pcl::computeMeanAndCovarianceMatrix(), pcl::eigen33(), and pcl::EIGEN_ALIGN16.

template<typename PointT >

void pcl::SampleConsensusModelPlane< PointT >::projectPoints	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		PointCloud &	projected_points,
		bool	copy_data_fields = `true`
	)

virtual

Create a new point cloud with inliers projected onto the plane model.

Parameters

[in]	inliers	the data inliers that we want to project on the plane model
[in]	model_coefficients	the normalized coefficients of a plane model
[out]	projected_points	the resultant projected points
[in]	copy_data_fields	set to true if we need to copy the other data fields

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 261 of file sac_model_plane.hpp.

References pcl::PointCloud< T >::header, pcl::PointCloud< T >::height, pcl::PointCloud< T >::is_dense, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

Referenced by pcl::ExtractPolygonalPrismData< PointT >::segment().

template<typename PointT >

void pcl::SampleConsensusModelPlane< 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 143 of file sac_model_plane.hpp.

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

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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