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

#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>

Public Types

using PointCloud = typename SampleConsensusModelPlane< PointT >::PointCloud
using PointCloudPtr = typename SampleConsensusModelPlane< PointT >::PointCloudPtr
using PointCloudConstPtr = typename SampleConsensusModelPlane< PointT >::PointCloudConstPtr
using Ptr = shared_ptr< SampleConsensusModelPerpendicularPlane< PointT > >
using ConstPtr = shared_ptr< const SampleConsensusModelPerpendicularPlane< PointT > >
- Public Types inherited from pcl::SampleConsensusModelPlane< PointT >
using PointCloud = typename SampleConsensusModel< PointT >::PointCloud
using PointCloudPtr = typename SampleConsensusModel< PointT >::PointCloudPtr
using PointCloudConstPtr = typename SampleConsensusModel< PointT >::PointCloudConstPtr
using Ptr = shared_ptr< SampleConsensusModelPlane< PointT > >
using ConstPtr = shared_ptr< const SampleConsensusModelPlane< PointT > >
- Public Types inherited from pcl::SampleConsensusModel< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointCloudPtr = typename PointCloud::Ptr
using SearchPtr = typename pcl::search::Search< PointT >::Ptr
using Ptr = shared_ptr< SampleConsensusModel< PointT > >
using ConstPtr = shared_ptr< const SampleConsensusModel< PointT > >

Public Member Functions

SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane. More...
SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane. More...
~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 () const
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 () const
Get the angle epsilon (delta) threshold. More...
void selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers. More...
std::size_t countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers. More...
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model. More...
pcl::SacModel getModelType () const override
Return a 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 Indices &indices, bool random=false)
Constructor for base SampleConsensusModelPlane. More...
~SampleConsensusModelPlane ()
Empty destructor. More...
bool computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override
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) const override
Compute all distances from the cloud data to a given plane model. More...
void selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers. More...
std::size_t countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers. More...
void optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
Recompute the plane coefficients using the given inlier set and return them to the user. More...
void projectPoints (const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override
Create a new point cloud with inliers projected onto the plane model. More...
bool doSamplesVerifyModel (const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override
Verify whether a subset of indices verifies the given plane model coefficients. More...
pcl::SacModel getModelType () const override
Return a 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 Indices &indices, bool random=false)
Constructor for base SampleConsensusModel. More...
virtual ~SampleConsensusModel ()
Destructor for base SampleConsensusModel. More...
virtual void getSamples (int &iterations, Indices &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 IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
void setIndices (const Indices &indices)
Provide the vector of indices that represents the input data. More...
IndicesPtr getIndices () const
Get a pointer to the vector of indices used. More...
const std::string & getClassName () const
Get a string representation of the name of this class. More...
unsigned int getSampleSize () const
Return the size of a sample from which the model is computed. More...
unsigned int getModelSize () const
Return the number of coefficients in the model. 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) const
Get the minimum and maximum allowable radius limits for the model as set by the user. More...
void setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function)
This can be used to impose any kind of constraint on the model, e.g. More...
void setSamplesMaxDist (const double &radius, SearchPtr search)
Set the maximum distance allowed when drawing random samples. More...
void getSamplesMaxDist (double &radius) const
Get maximum distance allowed when drawing random samples. More...
double computeVariance (const std::vector< double > &error_sqr_dists) const
Compute the variance of the errors to the model. More...
double computeVariance () const
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) const override
Check whether a model is valid given the user constraints. More...
- Protected Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
std::size_t countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
This implementation uses no SIMD instructions. More...
- Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
SampleConsensusModel (bool random=false)
Empty constructor for base SampleConsensusModel. More...
void drawIndexSample (Indices &sample)
Fills a sample array with random samples from the indices_ vector. More...
void drawIndexSampleRadius (Indices &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 >
std::string model_name_
The model name. More...
PointCloudConstPtr input_
A boost shared pointer to the point cloud data array. More...
IndicesPtr 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...
Indices shuffled_indices_
Data containing a shuffled version of the indices. More...
boost::mt19937 rng_alg_
Boost-based random number generator algorithm. More...
std::shared_ptr< boost::uniform_int<> > rng_dist_
Boost-based random number generator distribution. More...
std::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...
unsigned int sample_size_
The size of a sample from which the model is computed. More...
unsigned int model_size_
The number of coefficients in the model. More...
std::function< bool(const Eigen::VectorXf &)> custom_model_constraints_
A user defined function that takes model coefficients and returns whether the model is acceptable or not. 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 a user-specified axis (setAxis), up to a user-specified angle threshold (setEpsAngle). In other words, the plane normal must be (nearly) parallel to the 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

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

ConstPtr

Definition at line 80 of file sac_model_perpendicular_plane.h.

PointCloud

PointCloudConstPtr

PointCloudPtr

Ptr

Definition at line 79 of file sac_model_perpendicular_plane.h.

Constructor & Destructor Documentation

SampleConsensusModelPerpendicularPlane() [1/2]

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 86 of file sac_model_perpendicular_plane.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

SampleConsensusModelPerpendicularPlane() [2/2]

template<typename PointT >
pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane ( const PointCloudConstPtr & cloud,
const Indices & 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 102 of file sac_model_perpendicular_plane.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

~SampleConsensusModelPerpendicularPlane()

Empty destructor.

Definition at line 115 of file sac_model_perpendicular_plane.h.

Member Function Documentation

countWithinDistance()

template<typename PointT >
std::size_t pcl::SampleConsensusModelPerpendicularPlane< PointT >::countWithinDistance ( const Eigen::VectorXf & model_coefficients,
const double threshold
) const
overridevirtual

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 >.

Definition at line 64 of file sac_model_perpendicular_plane.hpp.

getAxis()

template<typename PointT >
Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane< PointT >::getAxis ( ) const
inline

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

Definition at line 125 of file sac_model_perpendicular_plane.h.

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

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

getDistancesToModel()

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

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 78 of file sac_model_perpendicular_plane.hpp.

getEpsAngle()

template<typename PointT >
double pcl::SampleConsensusModelPerpendicularPlane< PointT >::getEpsAngle ( ) const
inline

Get the angle epsilon (delta) threshold.

Definition at line 136 of file sac_model_perpendicular_plane.h.

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

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

getModelType()

template<typename PointT >
pcl::SacModel pcl::SampleConsensusModelPerpendicularPlane< PointT >::getModelType ( ) const
inlineoverridevirtual

Return a unique id for this model (SACMODEL_PERPENDICULAR_PLANE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 168 of file sac_model_perpendicular_plane.h.

References pcl::SACMODEL_PERPENDICULAR_PLANE.

isModelValid()

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

Check whether a model is valid given the user constraints.

Parameters
[in] model_coefficients the set of model coefficients

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 93 of file sac_model_perpendicular_plane.hpp.

References pcl::getAngle3D(), and M_PI.

selectWithinDistance()

template<typename PointT >
void pcl::SampleConsensusModelPerpendicularPlane< PointT >::selectWithinDistance ( const Eigen::VectorXf & model_coefficients,
const double threshold,
Indices & inliers
)
overridevirtual

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 49 of file sac_model_perpendicular_plane.hpp.

setAxis()

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 121 of file sac_model_perpendicular_plane.h.

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

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

setEpsAngle()

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 132 of file sac_model_perpendicular_plane.h.

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

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

Member Data Documentation

axis_

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 181 of file sac_model_perpendicular_plane.h.

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

eps_angle_

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 184 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:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_sample_consensus_model_perpendicular_plane.html