Point Cloud Library (PCL)  1.10.1-dev
sac_model_perpendicular_plane.h
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40 
41 #pragma once
42 
43 #include <pcl/sample_consensus/sac_model_plane.h>
44 #include <pcl/common/common.h>
45 
46 namespace pcl
47 {
48  /** \brief SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional
49  * angular constraints. The plane must be perpendicular to a user-specified axis (\ref setAxis), up to a user-specified angle threshold (\ref setEpsAngle).
50  * In other words, the plane <b>normal</b> must be (nearly) <b>parallel</b> to the specified axis.
51  * The model coefficients are defined as:
52  * - \b a : the X coordinate of the plane's normal (normalized)
53  * - \b b : the Y coordinate of the plane's normal (normalized)
54  * - \b c : the Z coordinate of the plane's normal (normalized)
55  * - \b d : the fourth <a href="http://mathworld.wolfram.com/HessianNormalForm.html">Hessian component</a> of the plane's equation
56  *
57  *
58  * Code example for a plane model, perpendicular (within a 15 degrees tolerance) with the Z axis:
59  * \code
60  * SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud);
61  * model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
62  * model.setEpsAngle (pcl::deg2rad (15));
63  * \endcode
64  *
65  * \note Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!
66  *
67  * \author Radu B. Rusu
68  * \ingroup sample_consensus
69  */
70  template <typename PointT>
72  {
73  public:
75 
79 
82 
83  /** \brief Constructor for base SampleConsensusModelPerpendicularPlane.
84  * \param[in] cloud the input point cloud dataset
85  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
86  */
88  bool random = false)
89  : SampleConsensusModelPlane<PointT> (cloud, random)
90  , axis_ (Eigen::Vector3f::Zero ())
91  , eps_angle_ (0.0)
92  {
93  model_name_ = "SampleConsensusModelPerpendicularPlane";
94  sample_size_ = 3;
95  model_size_ = 4;
96  }
97 
98  /** \brief Constructor for base SampleConsensusModelPerpendicularPlane.
99  * \param[in] cloud the input point cloud dataset
100  * \param[in] indices a vector of point indices to be used from \a cloud
101  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
102  */
104  const std::vector<int> &indices,
105  bool random = false)
106  : SampleConsensusModelPlane<PointT> (cloud, indices, random)
107  , axis_ (Eigen::Vector3f::Zero ())
108  , eps_angle_ (0.0)
109  {
110  model_name_ = "SampleConsensusModelPerpendicularPlane";
111  sample_size_ = 3;
112  model_size_ = 4;
113  }
114 
115  /** \brief Empty destructor */
117 
118  /** \brief Set the axis along which we need to search for a plane perpendicular to.
119  * \param[in] ax the axis along which we need to search for a plane perpendicular to
120  */
121  inline void
122  setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
123 
124  /** \brief Get the axis along which we need to search for a plane perpendicular to. */
125  inline Eigen::Vector3f
126  getAxis () const { return (axis_); }
127 
128  /** \brief Set the angle epsilon (delta) threshold.
129  * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
130  * \note You need to specify an angle > 0 in order to activate the axis-angle constraint!
131  */
132  inline void
133  setEpsAngle (const double ea) { eps_angle_ = ea; }
134 
135  /** \brief Get the angle epsilon (delta) threshold. */
136  inline double
137  getEpsAngle () const { return (eps_angle_); }
138 
139  /** \brief Select all the points which respect the given model coefficients as inliers.
140  * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
141  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
142  * \param[out] inliers the resultant model inliers
143  */
144  void
145  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
146  const double threshold,
147  std::vector<int> &inliers) override;
148 
149  /** \brief Count all the points which respect the given model coefficients as inliers.
150  *
151  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
152  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
153  * \return the resultant number of inliers
154  */
155  std::size_t
156  countWithinDistance (const Eigen::VectorXf &model_coefficients,
157  const double threshold) const override;
158 
159  /** \brief Compute all distances from the cloud data to a given plane model.
160  * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
161  * \param[out] distances the resultant estimated distances
162  */
163  void
164  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
165  std::vector<double> &distances) const override;
166 
167  /** \brief Return a unique id for this model (SACMODEL_PERPENDICULAR_PLANE). */
168  inline pcl::SacModel
169  getModelType () const override { return (SACMODEL_PERPENDICULAR_PLANE); }
170 
171  protected:
174 
175  /** \brief Check whether a model is valid given the user constraints.
176  * \param[in] model_coefficients the set of model coefficients
177  */
178  bool
179  isModelValid (const Eigen::VectorXf &model_coefficients) const override;
180 
181  /** \brief The axis along which we need to search for a plane perpendicular to. */
182  Eigen::Vector3f axis_;
183 
184  /** \brief The maximum allowed difference between the plane normal and the given axis. */
185  double eps_angle_;
186  };
187 }
188 
189 #ifdef PCL_NO_PRECOMPILE
190 #include <pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp>
191 #endif
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:565
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
Definition: bfgs.h:9
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.
Define standard C methods and C++ classes that are common to all methods.
SampleConsensusModel represents the base model class.
Definition: sac_model.h:69
std::string model_name_
The model name.
Definition: sac_model.h:524
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a plane perpendicular to.
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: sac_model.h:73
double eps_angle_
The maximum allowed difference between the plane normal and the given axis.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
SacModel
Definition: model_types.h:45
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.
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
Definition: sac_model.h:78
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers) override
Select all the points which respect the given model coefficients as inliers.
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
typename SampleConsensusModel< PointT >::PointCloud PointCloud
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:77
SampleConsensusModelPlane defines a model for 3D plane segmentation.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: memory.h:81
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:562
SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional ang...