SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints. More...

#include <pcl/sample_consensus/sac_model_normal_plane.h>

Inheritance diagram for pcl::SampleConsensusModelNormalPlane< PointT, PointNT >:

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 < SampleConsensusModelNormalPlane >	Ptr
Public Types inherited from pcl::SampleConsensusModelPlane< PointT >
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef boost::shared_ptr < SampleConsensusModelPlane >	Ptr
Public Types inherited from pcl::SampleConsensusModel< PointT >
typedef pcl::PointCloud< PointT >	PointCloud
typedef pcl::PointCloud < PointT >::ConstPtr	PointCloudConstPtr
typedef pcl::PointCloud < PointT >::Ptr	PointCloudPtr
typedef pcl::search::Search < PointT >::Ptr	SearchPtr
typedef boost::shared_ptr < SampleConsensusModel >	Ptr
typedef boost::shared_ptr < const SampleConsensusModel >	ConstPtr
Public Types inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
typedef pcl::PointCloud < PointNT >::ConstPtr	PointCloudNConstPtr
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudNPtr
typedef boost::shared_ptr < SampleConsensusModelFromNormals >	Ptr
typedef boost::shared_ptr < const SampleConsensusModelFromNormals >	ConstPtr

Public Member Functions
	SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelNormalPlane.
	SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelNormalPlane.
virtual	~SampleConsensusModelNormalPlane ()
	Empty destructor.
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_PLANE).
Public Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
	SampleConsensusModelPlane (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelPlane.
	SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelPlane.
virtual	~SampleConsensusModelPlane ()
	Empty destructor.
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.
Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModel.
	SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModel.
virtual	~SampleConsensusModel ()
	Destructor for base SampleConsensusModel.
virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get a set of random data samples and return them as point indices.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset.
void	setIndices (const boost::shared_ptr< std::vector< int > > &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const std::vector< int > &indices)
	Provide the vector of indices that represents the input data.
boost::shared_ptr< std::vector < int > >	getIndices () const
	Get a pointer to the vector of indices used.
unsigned int	getSampleSize () const
	Return the size of a sample from which a model is computed.
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)
void	getRadiusLimits (double &min_radius, double &max_radius)
	Get the minimum and maximum allowable radius limits for the model as set by the user.
void	setSamplesMaxDist (const double &radius, SearchPtr search)
	Set the maximum distance allowed when drawing random samples.
void	getSamplesMaxDist (double &radius)
	Get maximum distance allowed when drawing random samples.
double	computeVariance (const std::vector< double > &error_sqr_dists)
	Compute the variance of the errors to the model.
double	computeVariance ()
	Compute the variance of the errors to the model from the internally estimated vector of distances.
Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
	SampleConsensusModelFromNormals ()
	Empty constructor for base SampleConsensusModelFromNormals.
virtual	~SampleConsensusModelFromNormals ()
	Destructor.
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.

Additional Inherited Members
Protected Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.
Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
PointCloudConstPtr	input_
	A boost shared pointer to the point cloud data array.
boost::shared_ptr< std::vector < int > >	indices_
	A pointer to the vector of point indices to use.
double	radius_min_
	The minimum and maximum radius limits for the model.
double	radius_max_
double	samples_radius_
	The maximum distance of subsequent samples from the first (radius search)
SearchPtr	samples_radius_search_
	The search object for picking subsequent samples using radius search.
std::vector< int >	shuffled_indices_
	Data containing a shuffled version of the indices.
boost::mt19937	rng_alg_
	Boost-based random number generator algorithm.
boost::shared_ptr < boost::uniform_int<> >	rng_dist_
	Boost-based random number generator distribution.
boost::shared_ptr < boost::variate_generator < boost::mt19937 &, boost::uniform_int<> > >	rng_gen_
	Boost-based random number generator.
std::vector< double >	error_sqr_dists_
	A vector holding the distances to the computed model.
Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
double	normal_distance_weight_
	The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal.
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset.
Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
static const unsigned int	max_sample_checks_ = 1000
	The maximum number of samples to try until we get a good one.

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelNormalPlane< PointT, PointNT >

SampleConsensusModelNormalPlane 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.

The model coefficients are defined as:

a : the X coordinate of the plane's normal (normalized)
b : the Y coordinate of the plane's normal (normalized)
c : the Z coordinate of the plane's normal (normalized)
d : the fourth Hessian component of the plane's equation

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);
...

Author: Radu B. Rusu and Jared Glover

Definition at line 76 of file sac_model_normal_plane.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloud

Definition at line 86 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudConstPtr

Definition at line 88 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNConstPtr

Definition at line 91 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNPtr

Definition at line 90 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudPtr

Definition at line 87 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<SampleConsensusModelNormalPlane> pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::Ptr

Definition at line 93 of file sac_model_normal_plane.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane	(	const PointCloudConstPtr &	cloud,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelNormalPlane.

Parameters

[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 99 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelNormalPlane.

Parameters

[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 111 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

virtual pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::~SampleConsensusModelNormalPlane ( )

inlinevirtual

Empty destructor.

Definition at line 120 of file sac_model_normal_plane.h.

Member Function Documentation

template<typename PointT , typename PointNT >

int pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)

virtual

Count all the points which respect the given model coefficients as inliers.

Parameters

[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

Returns: the resultant number of inliers

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 106 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D().

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistancesToModel	(	const Eigen::VectorXf &	model_coefficients,
		std::vector< double > &	distances
	)

virtual

Compute all distances from the cloud data to a given plane model.

Parameters

[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 151 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D().

template<typename PointT, typename PointNT>

pcl::SacModel pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getModelType ( ) const

inlinevirtual

Return an unique id for this model (SACMODEL_NORMAL_PLANE).

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >.

Definition at line 152 of file sac_model_normal_plane.h.

References pcl::SACMODEL_NORMAL_PLANE.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		std::vector< int > &	inliers
	)

virtual

Select all the points which respect the given model coefficients as inliers.

Parameters

[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 48 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D().

The documentation for this class was generated from the following files:

/tmp/buildd/pcl-1.7.2/sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h
/tmp/buildd/pcl-1.7.2/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_plane.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT, typename PointNT> class pcl::SampleConsensusModelNormalPlane< PointT, PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelNormalPlane< PointT, PointNT >