Point Cloud Library (PCL)
1.7.0
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SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints. More...
#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
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... | |
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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... | |
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... | |
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... | |
Additional Inherited Members | |
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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... | |
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:
Definition at line 71 of file sac_model_perpendicular_plane.h.
typedef SampleConsensusModelPlane<PointT>::PointCloud pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloud |
Definition at line 74 of file sac_model_perpendicular_plane.h.
typedef SampleConsensusModelPlane<PointT>::PointCloudConstPtr pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudConstPtr |
Definition at line 76 of file sac_model_perpendicular_plane.h.
typedef SampleConsensusModelPlane<PointT>::PointCloudPtr pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudPtr |
Definition at line 75 of file sac_model_perpendicular_plane.h.
typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> pcl::SampleConsensusModelPerpendicularPlane< PointT >::Ptr |
Definition at line 78 of file sac_model_perpendicular_plane.h.
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inline |
Constructor for base SampleConsensusModelPerpendicularPlane.
[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 84 of file sac_model_perpendicular_plane.h.
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inline |
Constructor for base SampleConsensusModelPerpendicularPlane.
[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 97 of file sac_model_perpendicular_plane.h.
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inlinevirtual |
Empty destructor.
Definition at line 107 of file sac_model_perpendicular_plane.h.
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virtual |
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 63 of file sac_model_perpendicular_plane.hpp.
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inline |
Get the axis along which we need to search for a plane perpendicular to.
Definition at line 117 of file sac_model_perpendicular_plane.h.
References pcl::SampleConsensusModelPerpendicularPlane< PointT >::axis_.
Referenced by pcl::SACSegmentation< PointT >::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 75 of file sac_model_perpendicular_plane.hpp.
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inline |
Get the angle epsilon (delta) threshold.
Definition at line 128 of file sac_model_perpendicular_plane.h.
References pcl::SampleConsensusModelPerpendicularPlane< PointT >::eps_angle_.
Referenced by pcl::SACSegmentation< PointT >::initSACModel().
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inlinevirtual |
Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 160 of file sac_model_perpendicular_plane.h.
References pcl::SACMODEL_PERPENDICULAR_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 90 of file sac_model_perpendicular_plane.hpp.
References pcl::getAngle3D().
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virtual |
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_perpendicular_plane.hpp.
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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 113 of file sac_model_perpendicular_plane.h.
References pcl::SampleConsensusModelPerpendicularPlane< PointT >::axis_.
Referenced by pcl::SACSegmentation< PointT >::initSACModel().
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inline |
Set the angle epsilon (delta) threshold.
[in] | ea | the maximum allowed difference between the plane normal and the given axis. |
Definition at line 124 of file sac_model_perpendicular_plane.h.
References pcl::SampleConsensusModelPerpendicularPlane< PointT >::eps_angle_.
Referenced by pcl::SACSegmentation< PointT >::initSACModel().
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protected |
The axis along which we need to search for a plane perpendicular to.
Definition at line 170 of file sac_model_perpendicular_plane.h.
Referenced by pcl::SampleConsensusModelPerpendicularPlane< PointT >::getAxis(), and pcl::SampleConsensusModelPerpendicularPlane< PointT >::setAxis().
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protected |
The maximum allowed difference between the plane normal and the given axis.
Definition at line 173 of file sac_model_perpendicular_plane.h.
Referenced by pcl::SampleConsensusModelPerpendicularPlane< PointT >::getEpsAngle(), and pcl::SampleConsensusModelPerpendicularPlane< PointT >::setEpsAngle().