Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SampleConsensusModelPerpendicularPlane< PointT > Class Template Reference

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 >:

Public Types

typedef
SampleConsensusModelPlane
< PointT >::PointCloud 
PointCloud
 
typedef
SampleConsensusModelPlane
< PointT >::PointCloudPtr 
PointCloudPtr
 
typedef
SampleConsensusModelPlane
< PointT >::PointCloudConstPtr 
PointCloudConstPtr
 
typedef boost::shared_ptr
< SampleConsensusModelPerpendicularPlane
Ptr
 
- 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
< SampleConsensusModelPlane
Ptr
 
- 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
< SampleConsensusModel
Ptr
 
typedef boost::shared_ptr
< const SampleConsensusModel
ConstPtr
 

Public Member Functions

 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelPerpendicularPlane. More...
 
 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelPerpendicularPlane. More...
 
virtual ~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 ()
 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...
 
- 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)
 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...
 
- 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)
 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...
 

Protected Member Functions

virtual bool isModelValid (const Eigen::VectorXf &model_coefficients)
 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...
 

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...
 
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...
 

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 an user-specified axis (setAxis), up to an user-specified angle threshold (setEpsAngle). The model coefficients are defined as:

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 71 of file sac_model_perpendicular_plane.h.

Member Typedef Documentation

Definition at line 76 of file sac_model_perpendicular_plane.h.

Definition at line 78 of file sac_model_perpendicular_plane.h.

Definition at line 77 of file sac_model_perpendicular_plane.h.

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

Definition at line 80 of file sac_model_perpendicular_plane.h.

Constructor & Destructor Documentation

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

Constructor for base SampleConsensusModelPerpendicularPlane.

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 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_.

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

Constructor for base SampleConsensusModelPerpendicularPlane.

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 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_.

template<typename PointT>
virtual pcl::SampleConsensusModelPerpendicularPlane< PointT >::~SampleConsensusModelPerpendicularPlane ( )
inlinevirtual

Empty destructor.

Definition at line 115 of file sac_model_perpendicular_plane.h.

Member Function Documentation

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_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholdmaximum admissible distance threshold for determining the inliers from the outliers
Returns
the resultant number of inliers

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 63 of file sac_model_perpendicular_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 125 of file sac_model_perpendicular_plane.h.

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

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

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_coefficientsthe coefficients of a plane model that we need to compute distances to
[out]distancesthe resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 75 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 136 of file sac_model_perpendicular_plane.h.

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

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

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 168 of file sac_model_perpendicular_plane.h.

References pcl::SACMODEL_PERPENDICULAR_PLANE.

template<typename PointT >
bool pcl::SampleConsensusModelPerpendicularPlane< PointT >::isModelValid ( const Eigen::VectorXf &  model_coefficients)
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 90 of file sac_model_perpendicular_plane.hpp.

References pcl::getAngle3D().

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_coefficientsthe coefficients of a plane model that we need to compute distances to
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe resultant model inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 48 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]axthe 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().

template<typename PointT>
void pcl::SampleConsensusModelPerpendicularPlane< PointT >::setEpsAngle ( const double  ea)
inline

Set the angle epsilon (delta) threshold.

Parameters
[in]eathe 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

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().

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: