Point Cloud Library (PCL)
1.3.1
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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 Types | |
typedef SampleConsensusModelPlane < PointT >::PointCloud | PointCloud |
typedef SampleConsensusModelPlane < PointT >::PointCloudPtr | PointCloudPtr |
typedef SampleConsensusModelPlane < PointT >::PointCloudConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < SampleConsensusModelPerpendicularPlane > | Ptr |
Public Member Functions | |
SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModelPerpendicularPlane. | |
SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
Constructor for base SampleConsensusModelPerpendicularPlane. | |
void | setAxis (const Eigen::Vector3f &ax) |
Set the axis along which we need to search for a plane perpendicular to. | |
Eigen::Vector3f | getAxis () |
Get the axis along which we need to search for a plane perpendicular to. | |
void | setEpsAngle (const double ea) |
Set the angle epsilon (delta) threshold. | |
double | getEpsAngle () |
Get the angle epsilon (delta) threshold. | |
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. | |
virtual int | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) |
Count all the points which respect the given model coefficients as inliers. | |
void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
Compute all distances from the cloud data to a given plane model. | |
pcl::SacModel | getModelType () const |
Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE). | |
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_. | |
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. | |
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. | |
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. |
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));
typedef SampleConsensusModelPlane<PointT>::PointCloud pcl::SampleConsensusModelPerpendicularPlane::PointCloud |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 74 of file sac_model_perpendicular_plane.h.
typedef SampleConsensusModelPlane<PointT>::PointCloudConstPtr pcl::SampleConsensusModelPerpendicularPlane::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 76 of file sac_model_perpendicular_plane.h.
typedef SampleConsensusModelPlane<PointT>::PointCloudPtr pcl::SampleConsensusModelPerpendicularPlane::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 75 of file sac_model_perpendicular_plane.h.
typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> pcl::SampleConsensusModelPerpendicularPlane::Ptr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 78 of file sac_model_perpendicular_plane.h.
pcl::SampleConsensusModelPerpendicularPlane::SampleConsensusModelPerpendicularPlane | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelPerpendicularPlane.
[in] | cloud | the input point cloud dataset |
Definition at line 83 of file sac_model_perpendicular_plane.h.
pcl::SampleConsensusModelPerpendicularPlane::SampleConsensusModelPerpendicularPlane | ( | const PointCloudConstPtr & | cloud, |
const std::vector< int > & | indices | ||
) | [inline] |
Constructor for base SampleConsensusModelPerpendicularPlane.
[in] | cloud | the input point cloud dataset |
[in] | indices | a vector of point indices to be used from cloud |
Definition at line 93 of file sac_model_perpendicular_plane.h.
bool pcl::SampleConsensusModelPlane::computeModelCoefficients | ( | const std::vector< int > & | samples, |
Eigen::VectorXf & | model_coefficients | ||
) | [inherited] |
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_.
The plane coefficients are: a, b, c, d (ax+by+cz+d=0)
[in] | samples | the point indices found as possible good candidates for creating a valid model |
[out] | model_coefficients | the resultant model coefficients |
int pcl::SampleConsensusModelPerpendicularPlane::countWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, |
const double | threshold | ||
) | [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 60 of file sac_model_perpendicular_plane.hpp.
bool pcl::SampleConsensusModelPlane::doSamplesVerifyModel | ( | const std::set< int > & | indices, |
const Eigen::VectorXf & | model_coefficients, | ||
const double | threshold | ||
) | [inherited] |
Verify whether a subset of indices verifies the given plane model coefficients.
[in] | indices | the data indices that need to be tested against the plane model |
[in] | model_coefficients | the plane model coefficients |
[in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane::getAxis | ( | ) | [inline] |
Get the axis along which we need to search for a plane perpendicular to.
Definition at line 108 of file sac_model_perpendicular_plane.h.
void pcl::SampleConsensusModelPerpendicularPlane::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, |
std::vector< double > & | distances | ||
) |
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 |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 72 of file sac_model_perpendicular_plane.hpp.
double pcl::SampleConsensusModelPerpendicularPlane::getEpsAngle | ( | ) | [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 119 of file sac_model_perpendicular_plane.h.
pcl::SacModel pcl::SampleConsensusModelPerpendicularPlane::getModelType | ( | ) | const [inline] |
Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 151 of file sac_model_perpendicular_plane.h.
void pcl::SampleConsensusModelPlane::optimizeModelCoefficients | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
Eigen::VectorXf & | optimized_coefficients | ||
) | [inherited] |
Recompute the plane coefficients using the given inlier set and return them to the user.
[in] | inliers | the data inliers found as supporting the model |
[in] | model_coefficients | the initial guess for the model coefficients |
[out] | optimized_coefficients | the resultant recomputed coefficients after non-linear optimization |
void pcl::SampleConsensusModelPlane::projectPoints | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
PointCloud & | projected_points, | ||
bool | copy_data_fields = true |
||
) | [inherited] |
Create a new point cloud with inliers projected onto the plane model.
[in] | inliers | the data inliers that we want to project on the plane model |
[in] | model_coefficients | the *normalized* coefficients of a plane model |
[out] | projected_points | the resultant projected points |
[in] | copy_data_fields | set to true if we need to copy the other data fields |
void pcl::SampleConsensusModelPerpendicularPlane::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.
[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 |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 45 of file sac_model_perpendicular_plane.hpp.
void pcl::SampleConsensusModelPerpendicularPlane::setAxis | ( | const Eigen::Vector3f & | ax | ) | [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 104 of file sac_model_perpendicular_plane.h.
void pcl::SampleConsensusModelPerpendicularPlane::setEpsAngle | ( | const double | ea | ) | [inline] |
Set the angle epsilon (delta) threshold.
[in] | ea | the maximum allowed difference between the plane normal and the given axis. |
Definition at line 115 of file sac_model_perpendicular_plane.h.