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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

template<typename PointT >

using pcl::SampleConsensusModelPerpendicularPlane< PointT >::ConstPtr = shared_ptr<const SampleConsensusModelPerpendicularPlane<PointT> >

Definition at line 80 of file sac_model_perpendicular_plane.h.

PointCloud

template<typename PointT >

using pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloud = typename SampleConsensusModelPlane<PointT>::PointCloud

Definition at line 75 of file sac_model_perpendicular_plane.h.

PointCloudConstPtr

template<typename PointT >

using pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudConstPtr = typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr

Definition at line 77 of file sac_model_perpendicular_plane.h.

PointCloudPtr

template<typename PointT >

using pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudPtr = typename SampleConsensusModelPlane<PointT>::PointCloudPtr

Definition at line 76 of file sac_model_perpendicular_plane.h.

Ptr

template<typename PointT >

using pcl::SampleConsensusModelPerpendicularPlane< PointT >::Ptr = shared_ptr<SampleConsensusModelPerpendicularPlane<PointT> >

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()

template<typename PointT >

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

inline

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