Point Cloud Library (PCL)
1.3.1
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SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. More...
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
Public Types | |
typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNPtr | PointCloudNPtr |
typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNConstPtr | PointCloudNConstPtr |
typedef boost::shared_ptr < SampleConsensusModelNormalParallelPlane > | Ptr |
typedef boost::shared_ptr < const SampleConsensusModelFromNormals > | ConstPtr |
Public Member Functions | |
SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModelNormalParallelPlane. | |
SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
Constructor for base SampleConsensusModelNormalParallelPlane. | |
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 | setDistanceFromOrigin (const double d) |
Set the distance we expect the plane to be from the origin. | |
double | getDistanceFromOrigin () |
Get the distance of the plane from the origin. | |
void | setEpsDist (const double delta) |
Set the distance epsilon (delta) threshold. | |
double | getEpsDist () |
Get the distance 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_NORMAL_PARALLEL_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. | |
void | setNormalDistanceWeight (const double w) |
Set the normal angular distance weight. | |
double | getNormalDistanceWeight () |
Get the normal angular distance weight. | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
PointCloudNConstPtr | getInputNormals () |
Get a pointer to the normals of the input XYZ point cloud dataset. |
SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints.
Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. In addition, the plane must lie parallel to an user-specified axis.
The model coefficients are defined as:
To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:
SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model; ... sac_model.setNormalDistanceWeight (0.1); ...
In addition, the user can specify more constraints, such as:
typedef boost::shared_ptr<const SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals::ConstPtr [inherited] |
Definition at line 379 of file sac_model.h.
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalParallelPlane::PointCloud |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 97 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalParallelPlane::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 99 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalParallelPlane::PointCloudNConstPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 102 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalParallelPlane::PointCloudNPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 101 of file sac_model_normal_parallel_plane.h.
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalParallelPlane::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 98 of file sac_model_normal_parallel_plane.h.
typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> pcl::SampleConsensusModelNormalParallelPlane::Ptr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 104 of file sac_model_normal_parallel_plane.h.
pcl::SampleConsensusModelNormalParallelPlane::SampleConsensusModelNormalParallelPlane | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelNormalParallelPlane.
[in] | cloud | the input point cloud dataset |
Definition at line 109 of file sac_model_normal_parallel_plane.h.
pcl::SampleConsensusModelNormalParallelPlane::SampleConsensusModelNormalParallelPlane | ( | const PointCloudConstPtr & | cloud, |
const std::vector< int > & | indices | ||
) | [inline] |
Constructor for base SampleConsensusModelNormalParallelPlane.
[in] | cloud | the input point cloud dataset |
[in] | indices | a vector of point indices to be used from cloud |
Definition at line 119 of file sac_model_normal_parallel_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::SampleConsensusModelNormalParallelPlane::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 92 of file sac_model_normal_parallel_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::SampleConsensusModelNormalParallelPlane::getAxis | ( | ) | [inline] |
Get the axis along which we need to search for a plane perpendicular to.
Definition at line 133 of file sac_model_normal_parallel_plane.h.
double pcl::SampleConsensusModelNormalParallelPlane::getDistanceFromOrigin | ( | ) | [inline] |
Get the distance of the plane from the origin.
Definition at line 154 of file sac_model_normal_parallel_plane.h.
void pcl::SampleConsensusModelNormalParallelPlane::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 133 of file sac_model_normal_parallel_plane.hpp.
double pcl::SampleConsensusModelNormalParallelPlane::getEpsAngle | ( | ) | [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 144 of file sac_model_normal_parallel_plane.h.
double pcl::SampleConsensusModelNormalParallelPlane::getEpsDist | ( | ) | [inline] |
Get the distance epsilon (delta) threshold.
Definition at line 164 of file sac_model_normal_parallel_plane.h.
PointCloudNConstPtr pcl::SampleConsensusModelFromNormals::getInputNormals | ( | ) | [inline, inherited] |
Get a pointer to the normals of the input XYZ point cloud dataset.
Definition at line 412 of file sac_model.h.
pcl::SacModel pcl::SampleConsensusModelNormalParallelPlane::getModelType | ( | ) | const [inline] |
Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE).
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 196 of file sac_model_normal_parallel_plane.h.
double pcl::SampleConsensusModelFromNormals::getNormalDistanceWeight | ( | ) | [inline, inherited] |
Get the normal angular distance weight.
Definition at line 397 of file sac_model.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::SampleConsensusModelNormalParallelPlane::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_normal_parallel_plane.hpp.
void pcl::SampleConsensusModelNormalParallelPlane::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 129 of file sac_model_normal_parallel_plane.h.
void pcl::SampleConsensusModelNormalParallelPlane::setDistanceFromOrigin | ( | const double | d | ) | [inline] |
Set the distance we expect the plane to be from the origin.
[in] | d | distance from the template plane to the origin |
Definition at line 150 of file sac_model_normal_parallel_plane.h.
void pcl::SampleConsensusModelNormalParallelPlane::setEpsAngle | ( | const double | ea | ) | [inline] |
Set the angle epsilon (delta) threshold.
[in] | ea | the maximum allowed deviation from 90 degrees between the plane normal and the given axis. |
Definition at line 140 of file sac_model_normal_parallel_plane.h.
void pcl::SampleConsensusModelNormalParallelPlane::setEpsDist | ( | const double | delta | ) | [inline] |
Set the distance epsilon (delta) threshold.
[in] | delta | the maximum allowed deviation from the template distance from the origin |
Definition at line 160 of file sac_model_normal_parallel_plane.h.
void pcl::SampleConsensusModelFromNormals::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
[in] | normals | the const boost shared pointer to a PointCloud message |
Definition at line 405 of file sac_model.h.
void pcl::SampleConsensusModelFromNormals::setNormalDistanceWeight | ( | const double | w | ) | [inline, inherited] |
Set the normal angular distance weight.
[in] | w | the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. (The Euclidean distance will have weight 1-w.) |
Definition at line 390 of file sac_model.h.