Point Cloud Library (PCL) 1.12.0
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sac_model_parallel_plane.h
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40
41#pragma once
42
43#include <pcl/sample_consensus/sac_model_plane.h>
44
45namespace pcl
46{
47 /** \brief @b SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional
48 * angular constraints. The plane must be parallel to a user-specified axis
49 * (\ref setAxis) within a user-specified angle threshold (\ref setEpsAngle).
50 * In other words, the plane <b>normal</b> must be (nearly) <b>perpendicular</b> to the specified axis.
51 *
52 * Code example for a plane model, parallel (within a 15 degrees tolerance) with the Z axis:
53 * \code
54 * SampleConsensusModelParallelPlane<pcl::PointXYZ> model (cloud);
55 * model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
56 * model.setEpsAngle (pcl::deg2rad (15));
57 * \endcode
58 *
59 * \note Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!
60 *
61 * \author Radu B. Rusu, Nico Blodow
62 * \ingroup sample_consensus
63 */
64 template <typename PointT>
66 {
67 public:
69
73
76
77 /** \brief Constructor for base SampleConsensusModelParallelPlane.
78 * \param[in] cloud the input point cloud dataset
79 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
80 */
82 bool random = false)
84 , axis_ (Eigen::Vector3f::Zero ())
85 , eps_angle_ (0.0)
86 , sin_angle_ (-1.0)
87 {
88 model_name_ = "SampleConsensusModelParallelPlane";
89 sample_size_ = 3;
90 model_size_ = 4;
91 }
92
93 /** \brief Constructor for base SampleConsensusModelParallelPlane.
94 * \param[in] cloud the input point cloud dataset
95 * \param[in] indices a vector of point indices to be used from \a cloud
96 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
97 */
99 const Indices &indices,
100 bool random = false)
101 : SampleConsensusModelPlane<PointT> (cloud, indices, random)
102 , axis_ (Eigen::Vector3f::Zero ())
103 , eps_angle_ (0.0)
104 , sin_angle_ (-1.0)
105 {
106 model_name_ = "SampleConsensusModelParallelPlane";
107 sample_size_ = 3;
108 model_size_ = 4;
109 }
110
111 /** \brief Empty destructor */
113
114 /** \brief Set the axis along which we need to search for a plane perpendicular to.
115 * \param[in] ax the axis along which we need to search for a plane perpendicular to
116 */
117 inline void
118 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
119
120 /** \brief Get the axis along which we need to search for a plane perpendicular to. */
121 inline Eigen::Vector3f
122 getAxis () const { return (axis_); }
123
124 /** \brief Set the angle epsilon (delta) threshold.
125 * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
126 * \note You need to specify an angle > 0 in order to activate the axis-angle constraint!
127 */
128 inline void
129 setEpsAngle (const double ea) { eps_angle_ = ea; sin_angle_ = std::abs (sin (ea));}
130
131 /** \brief Get the angle epsilon (delta) threshold. */
132 inline double
133 getEpsAngle () const { return (eps_angle_); }
134
135 /** \brief Select all the points which respect the given model coefficients as inliers.
136 * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
137 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
138 * \param[out] inliers the resultant model inliers
139 */
140 void
141 selectWithinDistance (const Eigen::VectorXf &model_coefficients,
142 const double threshold,
143 Indices &inliers) override;
144
145 /** \brief Count all the points which respect the given model coefficients as inliers.
146 *
147 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
148 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
149 * \return the resultant number of inliers
150 */
151 std::size_t
152 countWithinDistance (const Eigen::VectorXf &model_coefficients,
153 const double threshold) const override;
154
155 /** \brief Compute all distances from the cloud data to a given plane model.
156 * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
157 * \param[out] distances the resultant estimated distances
158 */
159 void
160 getDistancesToModel (const Eigen::VectorXf &model_coefficients,
161 std::vector<double> &distances) const override;
162
163 /** \brief Return a unique id for this model (SACMODEL_PARALLEL_PLANE). */
164 inline pcl::SacModel
165 getModelType () const override { return (SACMODEL_PARALLEL_PLANE); }
166
167 protected:
170
171 /** \brief Check whether a model is valid given the user constraints.
172 * \param[in] model_coefficients the set of model coefficients
173 */
174 bool
175 isModelValid (const Eigen::VectorXf &model_coefficients) const override;
176
177 /** \brief The axis along which we need to search for a plane perpendicular to. */
178 Eigen::Vector3f axis_;
179
180 /** \brief The maximum allowed difference between the plane and the given axis. */
182
183 /** \brief The sine of the angle*/
185 };
186}
187
188#ifdef PCL_NO_PRECOMPILE
189#include <pcl/sample_consensus/impl/sac_model_parallel_plane.hpp>
190#endif
Iterator class for point clouds with or without given indices.
SampleConsensusModel represents the base model class.
Definition sac_model.h:70
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition sac_model.h:588
std::string model_name_
The model name.
Definition sac_model.h:550
unsigned int model_size_
The number of coefficients in the model.
Definition sac_model.h:591
SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular ...
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
double eps_angle_
The maximum allowed difference between the plane and the given axis.
typename SampleConsensusModelPlane< PointT >::PointCloudConstPtr PointCloudConstPtr
typename SampleConsensusModelPlane< PointT >::PointCloud PointCloud
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
SampleConsensusModelParallelPlane(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelParallelPlane.
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a plane perpendicular to.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
SampleConsensusModelParallelPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelPlane.
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PARALLEL_PLANE).
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
typename SampleConsensusModelPlane< PointT >::PointCloudPtr PointCloudPtr
SampleConsensusModelPlane defines a model for 3D plane segmentation.
typename SampleConsensusModel< PointT >::PointCloud PointCloud
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
Definition bfgs.h:10
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
@ SACMODEL_PARALLEL_PLANE
Definition model_types.h:62
A point structure representing Euclidean xyz coordinates, and the RGB color.