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 >:

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Collaboration diagram for pcl::SampleConsensusModelPerpendicularPlane< PointT >:

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Public Types
typedef SampleConsensusModelPlane < PointT >::PointCloud	PointCloud

typedef SampleConsensusModelPlane < PointT >::PointCloudPtr	PointCloudPtr

typedef SampleConsensusModelPlane < PointT >::PointCloudConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < SampleConsensusModelPerpendicularPlane >	Ptr

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

typedef boost::shared_ptr < const SampleConsensusModel >	ConstPtr

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

	SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelPerpendicularPlane. 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...

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...

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 70 of file sac_model_perpendicular_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 >

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

Definition at line 73 of file sac_model_perpendicular_plane.h.

template<typename PointT >

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

Definition at line 75 of file sac_model_perpendicular_plane.h.

template<typename PointT >

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

Definition at line 74 of file sac_model_perpendicular_plane.h.

template<typename PointT >

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

Definition at line 77 of file sac_model_perpendicular_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 >

pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane ( const PointCloudConstPtr & cloud)

inline

Constructor for base SampleConsensusModelPerpendicularPlane.

Parameters

[in] cloud the input point cloud dataset

Definition at line 82 of file sac_model_perpendicular_plane.h.

template<typename PointT >

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

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

Definition at line 93 of file sac_model_perpendicular_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 >

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 60 of file sac_model_perpendicular_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 >

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

inline

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

Definition at line 109 of file sac_model_perpendicular_plane.h.

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 72 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 120 of file sac_model_perpendicular_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 >

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 152 of file sac_model_perpendicular_plane.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 >

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 45 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 105 of file sac_model_perpendicular_plane.h.

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 116 of file sac_model_perpendicular_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>

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

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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