SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. More...

#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>

Inheritance diagram for pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >:

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Collaboration diagram for pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >:

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Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud

typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr

typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr

typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNPtr	PointCloudNPtr

typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNConstPtr	PointCloudNConstPtr

typedef boost::shared_ptr < SampleConsensusModelNormalParallelPlane >	Ptr

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

typedef boost::shared_ptr < const SampleConsensusModel >	ConstPtr

typedef boost::shared_ptr < const SampleConsensusModelFromNormals >	ConstPtr

Public Member Functions
	SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelNormalParallelPlane. More...

	SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelNormalParallelPlane. 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	setDistanceFromOrigin (const double d)
	Set the distance we expect the plane to be from the origin. More...

double	getDistanceFromOrigin ()
	Get the distance of the plane from the origin. More...

void	setEpsDist (const double delta)
	Set the distance epsilon (delta) threshold. More...

double	getEpsDist ()
	Get the distance 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_NORMAL_PARALLEL_PLANE). 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	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...

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...

void	setNormalDistanceWeight (const double w)
	Set the normal angular distance weight. More...

double	getNormalDistanceWeight ()
	Get the normal angular distance weight. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals ()
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >

SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints.

Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. In addition, the plane normal must lie parallel to an user-specified axis.

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

To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model;
...
sac_model.setNormalDistanceWeight (0.1);
...

In addition, the user can specify more constraints, such as:

an axis along which we need to search for a plane perpendicular to (setAxis);
an angle tolerance threshold between the plane's normal and the above given axis (setEpsAngle);
a distance we expect the plane to be from the origin (setDistanceFromOrigin);
a distance tolerance as the maximum allowed deviation from the above given distance from the origin (setEpsDist).

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

Author: Radu B. Rusu and Jared Glover and Nico Blodow

Definition at line 85 of file sac_model_normal_parallel_plane.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel< PointT >::ConstPtr

inherited

Definition at line 74 of file sac_model.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<const SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::ConstPtr

inherited

Definition at line 510 of file sac_model.h.

template<typename PointT , typename PointNT >

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloud

Definition at line 94 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudConstPtr

Definition at line 96 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNConstPtr

Definition at line 99 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNPtr

Definition at line 98 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudPtr

Definition at line 95 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::Ptr

Definition at line 101 of file sac_model_normal_parallel_plane.h.

template<typename PointT>

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

inherited

Definition at line 71 of file sac_model.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::SampleConsensusModelNormalParallelPlane ( const PointCloudConstPtr & cloud)

inline

Constructor for base SampleConsensusModelNormalParallelPlane.

Parameters

[in] cloud the input point cloud dataset

Definition at line 106 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::SampleConsensusModelNormalParallelPlane	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices
	)

inline

Constructor for base SampleConsensusModelNormalParallelPlane.

Parameters

[in]	cloud	the input point cloud dataset
[in]	indices	a vector of point indices to be used from cloud

Definition at line 118 of file sac_model_normal_parallel_plane.h.

Member Function Documentation

template<typename PointT >

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

virtualinherited

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 65 of file sac_model_plane.hpp.

template<typename PointT , typename PointNT >

int pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 91 of file sac_model_normal_parallel_plane.hpp.

template<typename PointT >

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

virtualinherited

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 329 of file sac_model_plane.hpp.

template<typename PointT , typename PointNT >

Eigen::Vector3f pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getAxis ( )

inline

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

Definition at line 134 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

double pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getDistanceFromOrigin ( )

inline

Get the distance of the plane from the origin.

Definition at line 155 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 131 of file sac_model_normal_parallel_plane.hpp.

template<typename PointT , typename PointNT >

double pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getEpsAngle ( )

inline

Get the angle epsilon (delta) threshold.

Definition at line 145 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

double pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getEpsDist ( )

inline

Get the distance epsilon (delta) threshold.

Definition at line 165 of file sac_model_normal_parallel_plane.h.

template<typename PointT>

boost::shared_ptr<std::vector<int> > pcl::SampleConsensusModel< PointT >::getIndices ( ) const

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 327 of file sac_model.h.

template<typename PointT>

PointCloudConstPtr pcl::SampleConsensusModel< PointT >::getInputCloud ( ) const

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 303 of file sac_model.h.

template<typename PointT, typename PointNT>

PointCloudNConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getInputNormals ( )

inlineinherited

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 546 of file sac_model.h.

template<typename PointT , typename PointNT >

pcl::SacModel pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getModelType ( ) const

inlinevirtual

Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 197 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getNormalDistanceWeight ( )

inlineinherited

Get the normal angular distance weight.

Definition at line 531 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::getRadiusLimits	(	double &	min_radius,
		double &	max_radius
	)

inlineinherited

Get the minimum and maximum allowable radius limits for the model as set by the user.

Parameters

[out]	min_radius	the resultant minimum radius model
[out]	max_radius	the resultant maximum radius model

Definition at line 363 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::getSamples	(	int &	iterations,
		std::vector< int > &	samples
	)

inlineinherited

Get a set of random data samples and return them as point indices.

Pure virtual.

Parameters

[out]	iterations	the internal number of iterations used by SAC methods
[out]	samples	the resultant model samples

Definition at line 163 of file sac_model.h.

template<typename PointT>

unsigned int pcl::SampleConsensusModel< PointT >::getSampleSize ( ) const

inlineinherited

Return the size of a sample from which a model is computed.

Definition at line 335 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::getSamplesMaxDist ( double & radius)

inlineinherited

Get maximum distance allowed when drawing random samples.

Parameters

[out] radius the maximum distance (L2 norm)

Definition at line 384 of file sac_model.h.

template<typename PointT >

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

virtualinherited

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 202 of file sac_model_plane.hpp.

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`
	)

virtualinherited

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 245 of file sac_model_plane.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 45 of file sac_model_normal_parallel_plane.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 130 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::setDistanceFromOrigin ( const double d)

inline

Set the distance we expect the plane to be from the origin.

Parameters

[in] d distance from the template plane to the origin

Definition at line 151 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::setEpsAngle ( const double ea)

inline

Set the angle epsilon (delta) threshold.

Parameters

[in] ea the maximum allowed deviation from 90 degrees 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 141 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::setEpsDist ( const double delta)

inline

Set the distance epsilon (delta) threshold.

Parameters

[in] delta the maximum allowed deviation from the template distance from the origin

Definition at line 161 of file sac_model_normal_parallel_plane.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setIndices ( const boost::shared_ptr< std::vector< int > > & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in] indices a pointer to the vector of indices that represents the input data.

Definition at line 309 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setIndices ( const std::vector< int > & indices)

inlineinherited

Provide the vector of indices that represents the input data.

Parameters

[out] indices the vector of indices that represents the input data.

Definition at line 319 of file sac_model.h.

template<typename PointT>

virtual void pcl::SampleConsensusModel< PointT >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

[in] cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 286 of file sac_model.h.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setInputNormals ( const PointCloudNConstPtr & normals)

inlineinherited

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

Parameters

[in] normals the const boost shared pointer to a PointCloud message

Definition at line 539 of file sac_model.h.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setNormalDistanceWeight ( const double w)

inlineinherited

Set the normal angular distance weight.

Parameters

[in] w the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. (The Euclidean distance will have weight 1-w.)

Definition at line 524 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setRadiusLimits	(	const double &	min_radius,
		const double &	max_radius
	)

inlineinherited

Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)

Parameters

[in]	min_radius	the minimum radius model
[in]	max_radius	the maximum radius model

Definition at line 350 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setSamplesMaxDist	(	const double &	radius,
		SearchPtr	search
	)

inlineinherited

Set the maximum distance allowed when drawing random samples.

Parameters

[in] radius the maximum distance (L2 norm)

Definition at line 373 of file sac_model.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h
/builddir/build/BUILD/PCL-1.6.0-Source/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_parallel_plane.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename PointNT> class pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >