Point Cloud Library (PCL) 1.12.0
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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
52namespace 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:
74
78
82
86
90
91 /** \brief Constructor for OrganizedMultiPlaneSegmentation. */
102
103 /** \brief Destructor for OrganizedMultiPlaneSegmentation. */
104
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. */
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
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
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,
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
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
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
bool initCompute()
This method should get called before starting the actual computation.
Definition pcl_base.hpp:138
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition pcl_base.hpp:174
PlanarRegion represents a set of points that lie in a plane.
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
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition angles.hpp:67
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.