Point Cloud Library (PCL)
1.7.1
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SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. More...
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
Public Member Functions | |
SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, bool random=false) | |
Constructor for base SampleConsensusModelNormalParallelPlane. More... | |
SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false) | |
Constructor for base SampleConsensusModelNormalParallelPlane. More... | |
virtual | ~SampleConsensusModelNormalParallelPlane () |
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 () |
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... | |
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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... | |
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... | |
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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... | |
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SampleConsensusModelFromNormals () | |
Empty constructor for base SampleConsensusModelFromNormals. More... | |
virtual | ~SampleConsensusModelFromNormals () |
Destructor. 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... | |
Protected Member Functions | |
bool | isModelValid (const Eigen::VectorXf &model_coefficients) |
Check whether a model is valid given the user constraints. More... | |
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bool | isModelValid (const Eigen::VectorXf &model_coefficients) |
Check whether a model is valid given the user constraints. More... | |
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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 | |
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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... | |
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double | normal_distance_weight_ |
The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. More... | |
PointCloudNConstPtr | normals_ |
A pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
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static const unsigned int | max_sample_checks_ = 1000 |
The maximum number of samples to try until we get a good one. More... | |
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:
To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:
In addition, the user can specify more constraints, such as:
Definition at line 86 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloud |
Definition at line 95 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudConstPtr |
Definition at line 97 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNConstPtr |
Definition at line 100 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNPtr |
Definition at line 99 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudPtr |
Definition at line 96 of file sac_model_normal_parallel_plane.h.
typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::Ptr |
Definition at line 102 of file sac_model_normal_parallel_plane.h.
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inline |
Constructor for base SampleConsensusModelNormalParallelPlane.
[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 108 of file sac_model_normal_parallel_plane.h.
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inline |
Constructor for base SampleConsensusModelNormalParallelPlane.
[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 125 of file sac_model_normal_parallel_plane.h.
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inlinevirtual |
Empty destructor.
Definition at line 139 of file sac_model_normal_parallel_plane.h.
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Count all the points which respect the given model coefficients as inliers.
[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 |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 99 of file sac_model_normal_parallel_plane.hpp.
References pcl::getAngle3D().
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Get the axis along which we need to search for a plane perpendicular to.
Definition at line 149 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Get the distance of the plane from the origin.
Definition at line 170 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Compute all distances from the cloud data to a given plane model.
[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 139 of file sac_model_normal_parallel_plane.hpp.
References pcl::getAngle3D().
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Get the angle epsilon (delta) threshold.
Definition at line 160 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Get the distance epsilon (delta) threshold.
Definition at line 180 of file sac_model_normal_parallel_plane.h.
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Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 212 of file sac_model_normal_parallel_plane.h.
References pcl::SACMODEL_NORMAL_PARALLEL_PLANE.
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protectedvirtual |
Check whether a model is valid given the user constraints.
[in] | model_coefficients | the set of model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 179 of file sac_model_normal_parallel_plane.hpp.
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Select all the points which respect the given model coefficients as inliers.
[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 48 of file sac_model_normal_parallel_plane.hpp.
References pcl::getAngle3D().
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inline |
Set the axis along which we need to search for a plane perpendicular to.
[in] | ax | the axis along which we need to search for a plane perpendicular to |
Definition at line 145 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Set the distance we expect the plane to be from the origin.
[in] | d | distance from the template plane to the origin |
Definition at line 166 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Set the angle epsilon (delta) threshold.
[in] | ea | the maximum allowed deviation from 90 degrees between the plane normal and the given axis. |
Definition at line 156 of file sac_model_normal_parallel_plane.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Set the distance epsilon (delta) threshold.
[in] | delta | the maximum allowed deviation from the template distance from the origin |
Definition at line 176 of file sac_model_normal_parallel_plane.h.