Point Cloud Library (PCL)  1.9.1-dev
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pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT > Class Template Reference

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 >:

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< SampleConsensusModelNormalParallelPlanePtr
 
- Public Types inherited from pcl::SampleConsensusModelNormalPlane< PointT, PointNT >
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< SampleConsensusModelNormalPlanePtr
 
- Public Types inherited from pcl::SampleConsensusModelPlane< PointT >
typedef SampleConsensusModel< PointT >::PointCloud PointCloud
 
typedef SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
 
typedef SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< SampleConsensusModelPlanePtr
 
- Public Types inherited from pcl::SampleConsensusModel< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
 
typedef pcl::PointCloud< PointT >::Ptr PointCloudPtr
 
typedef pcl::search::Search< PointT >::Ptr SearchPtr
 
typedef boost::shared_ptr< SampleConsensusModelPtr
 
typedef boost::shared_ptr< const SampleConsensusModelConstPtr
 
- Public Types inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
typedef pcl::PointCloud< PointNT >::ConstPtr PointCloudNConstPtr
 
typedef pcl::PointCloud< PointNT >::Ptr PointCloudNPtr
 
typedef boost::shared_ptr< SampleConsensusModelFromNormalsPtr
 
typedef boost::shared_ptr< const SampleConsensusModelFromNormalsConstPtr
 

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...
 
pcl::SacModel getModelType () const
 Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE). More...
 
- Public Member Functions inherited from pcl::SampleConsensusModelNormalPlane< PointT, PointNT >
 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelNormalPlane. More...
 
 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelNormalPlane. More...
 
virtual ~SampleConsensusModelNormalPlane ()
 Empty destructor. 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) const
 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
 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_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 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) const
 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
 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) const
 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) const
 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) const
 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...
 
- 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 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...
 
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 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...
 
- Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
 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

virtual bool isModelValid (const Eigen::VectorXf &model_coefficients) const
 Check whether a model is valid given the user constraints. More...
 
- Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
 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

- 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...
 
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...
 
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...
 
- Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
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...
 
- 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, 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:

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:

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 83 of file sac_model_normal_parallel_plane.h.

Member Typedef Documentation

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

Definition at line 93 of file sac_model_normal_parallel_plane.h.

Definition at line 95 of file sac_model_normal_parallel_plane.h.

Definition at line 98 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 97 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 94 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 100 of file sac_model_normal_parallel_plane.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::SampleConsensusModelNormalParallelPlane ( const PointCloudConstPtr cloud,
bool  random = false 
)
inline

Constructor for base SampleConsensusModelNormalParallelPlane.

Parameters
[in]cloudthe input point cloud dataset
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 106 of file sac_model_normal_parallel_plane.h.

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

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::SampleConsensusModelNormalParallelPlane ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices,
bool  random = false 
)
inline

Constructor for base SampleConsensusModelNormalParallelPlane.

Parameters
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud
[in]randomif 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.

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

template<typename PointT, typename PointNT>
virtual pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::~SampleConsensusModelNormalParallelPlane ( )
inlinevirtual

Empty destructor.

Definition at line 141 of file sac_model_normal_parallel_plane.h.

Member Function Documentation

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 151 of file sac_model_normal_parallel_plane.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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

Get the distance of the plane from the origin.

Definition at line 172 of file sac_model_normal_parallel_plane.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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

Get the angle epsilon (delta) threshold.

Definition at line 162 of file sac_model_normal_parallel_plane.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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

Get the distance epsilon (delta) threshold.

Definition at line 182 of file sac_model_normal_parallel_plane.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 186 of file sac_model_normal_parallel_plane.h.

References pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::isModelValid(), and pcl::SACMODEL_NORMAL_PARALLEL_PLANE.

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::isModelValid ( const Eigen::VectorXf &  model_coefficients) const
protectedvirtual

Check whether a model is valid given the user constraints.

Parameters
[in]model_coefficientsthe set of model coefficients

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 48 of file sac_model_normal_parallel_plane.hpp.

Referenced by pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getModelType().

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]axthe axis along which we need to search for a plane perpendicular to

Definition at line 147 of file sac_model_normal_parallel_plane.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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]ddistance from the template plane to the origin

Definition at line 168 of file sac_model_normal_parallel_plane.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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

Set the angle epsilon (delta) threshold.

Parameters
[in]eathe 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 158 of file sac_model_normal_parallel_plane.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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

Set the distance epsilon (delta) threshold.

Parameters
[in]deltathe maximum allowed deviation from the template distance from the origin

Definition at line 178 of file sac_model_normal_parallel_plane.h.


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