Point Cloud Library (PCL)
1.7.0
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IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_ 00042 #define PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_ 00043 00044 #include <pcl/sample_consensus/sac_model_plane.h> 00045 #include <pcl/common/common.h> 00046 00047 namespace pcl 00048 { 00049 /** \brief SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional 00050 * angular constraints. The plane must be perpendicular to an user-specified axis (\ref setAxis), up to an user-specified angle threshold (\ref setEpsAngle). 00051 * The model coefficients are defined as: 00052 * - \b a : the X coordinate of the plane's normal (normalized) 00053 * - \b b : the Y coordinate of the plane's normal (normalized) 00054 * - \b c : the Z coordinate of the plane's normal (normalized) 00055 * - \b d : the fourth <a href="http://mathworld.wolfram.com/HessianNormalForm.html">Hessian component</a> of the plane's equation 00056 * 00057 * 00058 * Code example for a plane model, perpendicular (within a 15 degrees tolerance) with the Z axis: 00059 * \code 00060 * SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud); 00061 * model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0)); 00062 * model.setEpsAngle (pcl::deg2rad (15)); 00063 * \endcode 00064 * 00065 * \note Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint! 00066 * 00067 * \author Radu B. Rusu 00068 * \ingroup sample_consensus 00069 */ 00070 template <typename PointT> 00071 class SampleConsensusModelPerpendicularPlane : public SampleConsensusModelPlane<PointT> 00072 { 00073 public: 00074 typedef typename SampleConsensusModelPlane<PointT>::PointCloud PointCloud; 00075 typedef typename SampleConsensusModelPlane<PointT>::PointCloudPtr PointCloudPtr; 00076 typedef typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr PointCloudConstPtr; 00077 00078 typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> Ptr; 00079 00080 /** \brief Constructor for base SampleConsensusModelPerpendicularPlane. 00081 * \param[in] cloud the input point cloud dataset 00082 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false) 00083 */ 00084 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, 00085 bool random = false) 00086 : SampleConsensusModelPlane<PointT> (cloud, random) 00087 , axis_ (Eigen::Vector3f::Zero ()) 00088 , eps_angle_ (0.0) 00089 { 00090 } 00091 00092 /** \brief Constructor for base SampleConsensusModelPerpendicularPlane. 00093 * \param[in] cloud the input point cloud dataset 00094 * \param[in] indices a vector of point indices to be used from \a cloud 00095 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false) 00096 */ 00097 SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, 00098 const std::vector<int> &indices, 00099 bool random = false) 00100 : SampleConsensusModelPlane<PointT> (cloud, indices, random) 00101 , axis_ (Eigen::Vector3f::Zero ()) 00102 , eps_angle_ (0.0) 00103 { 00104 } 00105 00106 /** \brief Empty destructor */ 00107 virtual ~SampleConsensusModelPerpendicularPlane () {} 00108 00109 /** \brief Set the axis along which we need to search for a plane perpendicular to. 00110 * \param[in] ax the axis along which we need to search for a plane perpendicular to 00111 */ 00112 inline void 00113 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; } 00114 00115 /** \brief Get the axis along which we need to search for a plane perpendicular to. */ 00116 inline Eigen::Vector3f 00117 getAxis () { return (axis_); } 00118 00119 /** \brief Set the angle epsilon (delta) threshold. 00120 * \param[in] ea the maximum allowed difference between the plane normal and the given axis. 00121 * \note You need to specify an angle > 0 in order to activate the axis-angle constraint! 00122 */ 00123 inline void 00124 setEpsAngle (const double ea) { eps_angle_ = ea; } 00125 00126 /** \brief Get the angle epsilon (delta) threshold. */ 00127 inline double 00128 getEpsAngle () { return (eps_angle_); } 00129 00130 /** \brief Select all the points which respect the given model coefficients as inliers. 00131 * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to 00132 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers 00133 * \param[out] inliers the resultant model inliers 00134 */ 00135 void 00136 selectWithinDistance (const Eigen::VectorXf &model_coefficients, 00137 const double threshold, 00138 std::vector<int> &inliers); 00139 00140 /** \brief Count all the points which respect the given model coefficients as inliers. 00141 * 00142 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to 00143 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers 00144 * \return the resultant number of inliers 00145 */ 00146 virtual int 00147 countWithinDistance (const Eigen::VectorXf &model_coefficients, 00148 const double threshold); 00149 00150 /** \brief Compute all distances from the cloud data to a given plane model. 00151 * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to 00152 * \param[out] distances the resultant estimated distances 00153 */ 00154 void 00155 getDistancesToModel (const Eigen::VectorXf &model_coefficients, 00156 std::vector<double> &distances); 00157 00158 /** \brief Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE). */ 00159 inline pcl::SacModel 00160 getModelType () const { return (SACMODEL_PERPENDICULAR_PLANE); } 00161 00162 protected: 00163 /** \brief Check whether a model is valid given the user constraints. 00164 * \param[in] model_coefficients the set of model coefficients 00165 */ 00166 bool 00167 isModelValid (const Eigen::VectorXf &model_coefficients); 00168 00169 /** \brief The axis along which we need to search for a plane perpendicular to. */ 00170 Eigen::Vector3f axis_; 00171 00172 /** \brief The maximum allowed difference between the plane normal and the given axis. */ 00173 double eps_angle_; 00174 }; 00175 } 00176 00177 #ifdef PCL_NO_PRECOMPILE 00178 #include <pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp> 00179 #endif 00180 00181 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_