Point Cloud Library (PCL)  1.12.0
organized_multi_plane_segmentation.h
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39 
40 #pragma once
41 
42 #include <pcl/segmentation/planar_region.h>
43 #include <pcl/pcl_base.h>
44 #include <pcl/pcl_macros.h>
45 #include <pcl/common/angles.h>
46 #include <pcl/common/utils.h>
47 #include <pcl/PointIndices.h>
48 #include <pcl/ModelCoefficients.h>
49 #include <pcl/segmentation/plane_coefficient_comparator.h>
50 #include <pcl/segmentation/plane_refinement_comparator.h>
51 
52 namespace pcl
53 {
54  /** \brief OrganizedMultiPlaneSegmentation finds all planes present in the
55  * input cloud, and outputs a vector of plane equations, as well as a vector
56  * of point clouds corresponding to the inliers of each detected plane. Only
57  * planes with more than min_inliers points are detected.
58  * Templated on point type, normal type, and label type
59  *
60  * \author Alex Trevor, Suat Gedikli
61  */
62  template<typename PointT, typename PointNT, typename PointLT>
64  {
69 
70  public:
72  using PointCloudPtr = typename PointCloud::Ptr;
74 
76  using PointCloudNPtr = typename PointCloudN::Ptr;
78 
80  using PointCloudLPtr = typename PointCloudL::Ptr;
82 
86 
90 
91  /** \brief Constructor for OrganizedMultiPlaneSegmentation. */
93  normals_ (),
94  min_inliers_ (1000),
95  angular_threshold_ (pcl::deg2rad (3.0)),
96  distance_threshold_ (0.02),
97  maximum_curvature_ (0.001),
98  project_points_ (false),
100  {
101  }
102 
103  /** \brief Destructor for OrganizedMultiPlaneSegmentation. */
104 
106  {
107  }
108 
109  /** \brief Provide a pointer to the input normals.
110  * \param[in] normals the input normal cloud
111  */
112  inline void
114  {
115  normals_ = normals;
116  }
117 
118  /** \brief Get the input normals. */
119  inline PointCloudNConstPtr
121  {
122  return (normals_);
123  }
124 
125  /** \brief Set the minimum number of inliers required for a plane
126  * \param[in] min_inliers the minimum number of inliers required per plane
127  */
128  inline void
129  setMinInliers (unsigned min_inliers)
130  {
131  min_inliers_ = min_inliers;
132  }
133 
134  /** \brief Get the minimum number of inliers required per plane. */
135  inline unsigned
136  getMinInliers () const
137  {
138  return (min_inliers_);
139  }
140 
141  /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
142  * \param[in] angular_threshold the tolerance in radians
143  */
144  inline void
145  setAngularThreshold (double angular_threshold)
146  {
147  angular_threshold_ = angular_threshold;
148  }
149 
150  /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
151  inline double
153  {
154  return (angular_threshold_);
155  }
156 
157  /** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
158  * \param[in] distance_threshold the tolerance in meters
159  */
160  inline void
161  setDistanceThreshold (double distance_threshold)
162  {
163  distance_threshold_ = distance_threshold;
164  }
165 
166  /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
167  inline double
169  {
170  return (distance_threshold_);
171  }
172 
173  /** \brief Set the maximum curvature allowed for a planar region.
174  * \param[in] maximum_curvature the maximum curvature
175  */
176  inline void
177  setMaximumCurvature (double maximum_curvature)
178  {
179  maximum_curvature_ = maximum_curvature;
180  }
181 
182  /** \brief Get the maximum curvature allowed for a planar region. */
183  inline double
185  {
186  return (maximum_curvature_);
187  }
188 
189  /** \brief Provide a pointer to the comparator to be used for segmentation.
190  * \param[in] compare A pointer to the comparator to be used for segmentation.
191  */
192  void
194  {
195  compare_ = compare;
196  }
197 
198  /** \brief Provide a pointer to the comparator to be used for refinement.
199  * \param[in] compare A pointer to the comparator to be used for refinement.
200  */
201  void
203  {
204  refinement_compare_ = compare;
205  }
206 
207  /** \brief Set whether or not to project boundary points to the plane, or leave them in the original 3D space.
208  * \param[in] project_points true if points should be projected, false if not.
209  */
210  void
211  setProjectPoints (bool project_points)
212  {
213  project_points_ = project_points;
214  }
215 
216  /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
217  * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
218  * \param[out] inlier_indices a vector of inliers for each detected plane
219  * \param[out] centroids a vector of centroids for each plane
220  * \param[out] covariances a vector of covariance matricies for the inliers of each plane
221  * \param[out] labels a point cloud for the connected component labels of each pixel
222  * \param[out] label_indices a vector of PointIndices for each labeled component
223  */
224  void
225  segment (std::vector<ModelCoefficients>& model_coefficients,
226  std::vector<PointIndices>& inlier_indices,
227  std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
228  std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
229  pcl::PointCloud<PointLT>& labels,
230  std::vector<pcl::PointIndices>& label_indices);
231 
232  /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
233  * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
234  * \param[out] inlier_indices a vector of inliers for each detected plane
235  */
236  void
237  segment (std::vector<ModelCoefficients>& model_coefficients,
238  std::vector<PointIndices>& inlier_indices);
239 
240  /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
241  * \param[out] regions a list of resultant planar polygonal regions
242  */
243  void
244  segment (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
245 
246  /** \brief Perform a segmentation, as well as an additional refinement step. This helps with including points whose normals may not match neighboring points well, but may match the planar model well.
247  * \param[out] regions A list of regions generated by segmentation and refinement.
248  */
249  void
250  segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
251 
252  /** \brief Perform a segmentation, as well as additional refinement step. Returns intermediate data structures for use in
253  * subsequent processing.
254  * \param[out] regions A vector of PlanarRegions generated by segmentation
255  * \param[out] model_coefficients A vector of model coefficients for each segmented plane
256  * \param[out] inlier_indices A vector of PointIndices, indicating the inliers to each segmented plane
257  * \param[out] labels A PointCloud<PointLT> corresponding to the resulting segmentation.
258  * \param[out] label_indices A vector of PointIndices for each label
259  * \param[out] boundary_indices A vector of PointIndices corresponding to the outer boundary / contour of each label
260  */
261  void
262  segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions,
263  std::vector<ModelCoefficients>& model_coefficients,
264  std::vector<PointIndices>& inlier_indices,
265  PointCloudLPtr& labels,
266  std::vector<pcl::PointIndices>& label_indices,
267  std::vector<pcl::PointIndices>& boundary_indices);
268 
269  /** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
270  * \param [in] model_coefficients The list of segmented model coefficients
271  * \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
272  * \param [in] labels The labels produced by the initial segmentation
273  * \param [in] label_indices The list of indices corresponding to each label
274  */
275  void
276  refine (std::vector<ModelCoefficients>& model_coefficients,
277  std::vector<PointIndices>& inlier_indices,
278  PointCloudLPtr& labels,
279  std::vector<pcl::PointIndices>& label_indices);
280 
281  protected:
282 
283  /** \brief A pointer to the input normals */
285 
286  /** \brief The minimum number of inliers required for each plane. */
287  unsigned min_inliers_;
288 
289  /** \brief The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
291 
292  /** \brief The tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. */
294 
295  /** \brief The tolerance for maximum curvature after fitting a plane. Used to remove smooth, but non-planar regions. */
297 
298  /** \brief Whether or not points should be projected to the plane, or left in the original 3D space. */
300 
301  /** \brief A comparator for comparing neighboring pixels' plane equations. */
303 
304  /** \brief A comparator for use on the refinement step. Compares points to regions segmented in the first pass. */
306 
307  /** \brief Class getName method. */
308  virtual std::string
309  getClassName () const
310  {
311  return ("OrganizedMultiPlaneSegmentation");
312  }
313  };
314 
315 }
316 
317 #ifdef PCL_NO_PRECOMPILE
318 #include <pcl/segmentation/impl/organized_multi_plane_segmentation.hpp>
319 #endif
Define standard C methods to do angle calculations.
OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
double getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
void segment(std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &covariances, pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices)
Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
void setRefinementComparator(const PlaneRefinementComparatorPtr &compare)
Provide a pointer to the comparator to be used for refinement.
unsigned getMinInliers() const
Get the minimum number of inliers required per plane.
void setDistanceThreshold(double distance_threshold)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
bool project_points_
Whether or not points should be projected to the plane, or left in the original 3D space.
PlaneComparatorPtr compare_
A comparator for comparing neighboring pixels' plane equations.
double distance_threshold_
The tolerance in meters for difference in perpendicular distance (d component of plane equation) to t...
unsigned min_inliers_
The minimum number of inliers required for each plane.
void segmentAndRefine(std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
Perform a segmentation, as well as an additional refinement step.
void setComparator(const PlaneComparatorPtr &compare)
Provide a pointer to the comparator to be used for segmentation.
double maximum_curvature_
The tolerance for maximum curvature after fitting a plane.
void setMinInliers(unsigned min_inliers)
Set the minimum number of inliers required for a plane.
virtual std::string getClassName() const
Class getName method.
double getMaximumCurvature() const
Get the maximum curvature allowed for a planar region.
typename PlaneRefinementComparator::ConstPtr PlaneRefinementComparatorConstPtr
void setProjectPoints(bool project_points)
Set whether or not to project boundary points to the plane, or leave them in the original 3D space.
typename PlaneComparator::ConstPtr PlaneComparatorConstPtr
double angular_threshold_
The tolerance in radians for difference in normal direction between neighboring points,...
PointCloudNConstPtr getInputNormals() const
Get the input normals.
void setMaximumCurvature(double maximum_curvature)
Set the maximum curvature allowed for a planar region.
~OrganizedMultiPlaneSegmentation()
Destructor for OrganizedMultiPlaneSegmentation.
void setAngularThreshold(double angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
double getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
PointCloudNConstPtr normals_
A pointer to the input normals.
OrganizedMultiPlaneSegmentation()
Constructor for OrganizedMultiPlaneSegmentation.
PlaneRefinementComparatorPtr refinement_compare_
A comparator for use on the refinement step.
typename PlaneRefinementComparator::Ptr PlaneRefinementComparatorPtr
void refine(std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices)
Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by ...
PCL base class.
Definition: pcl_base.h:70
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PlanarRegion represents a set of points that lie in a plane.
Definition: planar_region.h:52
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
shared_ptr< PlaneCoefficientComparator< PointT, PointNT > > Ptr
shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > > ConstPtr
PlaneRefinementComparator is a Comparator that operates on plane coefficients, for use in planar segm...
shared_ptr< PlaneRefinementComparator< PointT, PointNT, PointLT > > Ptr
shared_ptr< const PlaneRefinementComparator< PointT, PointNT, PointLT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition: angles.hpp:67
Defines all the PCL and non-PCL macros used.