Point Cloud Library (PCL) 1.12.0
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List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::SampleConsensusModelNormalPlane< PointT, PointNT > Class Template Reference

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 >:
+ Collaboration diagram for pcl::SampleConsensusModelNormalPlane< PointT, PointNT >:

Public Types

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

Public Member Functions

 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelNormalPlane.
 
 SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
 Constructor for base SampleConsensusModelNormalPlane.
 
 ~SampleConsensusModelNormalPlane ()
 Empty destructor.
 
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.
 
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.
 
pcl::SacModel getModelType () const override
 Return a 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 Indices &indices, bool random=false)
 Constructor for base SampleConsensusModelPlane.
 
 ~SampleConsensusModelPlane ()
 Empty destructor.
 
bool computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override
 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 getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
 Compute all distances from the cloud data to a given plane model.
 
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.
 
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 optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
 Recompute the plane coefficients using the given inlier set and return them to the user.
 
void projectPoints (const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override
 Create a new point cloud with inliers projected onto the plane model.
 
bool doSamplesVerifyModel (const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override
 Verify whether a subset of indices verifies the given plane model coefficients.
 
pcl::SacModel getModelType () const override
 Return a unique id for this model (SACMODEL_PLANE).
 
- Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModel.
 
 SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
 Constructor for base SampleConsensusModel.
 
virtual ~SampleConsensusModel ()
 Destructor for base SampleConsensusModel.
 
virtual void getSamples (int &iterations, Indices &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 IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
 
void setIndices (const Indices &indices)
 Provide the vector of indices that represents the input data.
 
IndicesPtr getIndices () const
 Get a pointer to the vector of indices used.
 
const std::string & getClassName () const
 Get a string representation of the name of this class.
 
unsigned int getSampleSize () const
 Return the size of a sample from which the model is computed.
 
unsigned int getModelSize () const
 Return the number of coefficients in the model.
 
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) const
 Get the minimum and maximum allowable radius limits for the model as set by the user.
 
void setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function)
 This can be used to impose any kind of constraint on the model, e.g.
 
void setSamplesMaxDist (const double &radius, SearchPtr search)
 Set the maximum distance allowed when drawing random samples.
 
void getSamplesMaxDist (double &radius) const
 Get maximum distance allowed when drawing random samples.
 
double computeVariance (const std::vector< double > &error_sqr_dists) const
 Compute the variance of the errors to the model.
 
double computeVariance () const
 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 () const
 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 () const
 Get a pointer to the normals of the input XYZ point cloud dataset.
 

Protected Member Functions

std::size_t countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
 This implementation uses no SIMD instructions.
 
- Protected Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
std::size_t countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
 This implementation uses no SIMD instructions.
 
- Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (bool random=false)
 Empty constructor for base SampleConsensusModel.
 
void drawIndexSample (Indices &sample)
 Fills a sample array with random samples from the indices_ vector.
 
void drawIndexSampleRadius (Indices &sample)
 Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_.
 
virtual bool isModelValid (const Eigen::VectorXf &model_coefficients) const
 Check whether a model is valid given the user constraints.
 
int rnd ()
 Boost-based random number generator.
 

Additional Inherited Members

- Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
std::string model_name_
 The model name.
 
PointCloudConstPtr input_
 A boost shared pointer to the point cloud data array.
 
IndicesPtr 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.
 
Indices shuffled_indices_
 Data containing a shuffled version of the indices.
 
boost::mt19937 rng_alg_
 Boost-based random number generator algorithm.
 
std::shared_ptr< boost::uniform_int<> > rng_dist_
 Boost-based random number generator distribution.
 
std::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > > rng_gen_
 Boost-based random number generator.
 
std::vector< doubleerror_sqr_dists_
 A vector holding the distances to the computed model.
 
unsigned int sample_size_
 The size of a sample from which the model is computed.
 
unsigned int model_size_
 The number of coefficients in the model.
 
std::function< bool(const Eigen::VectorXf &) custom_model_constraints_ )
 A user defined function that takes model coefficients and returns whether the model is acceptable or not.
 
- 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:

To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

...
sac_model.setNormalDistanceWeight (0.1);
...
Iterator class for point clouds with or without given indices.
Author
Radu B. Rusu and Jared Glover

Definition at line 76 of file sac_model_normal_plane.h.

Member Typedef Documentation

◆ ConstPtr

Definition at line 95 of file sac_model_normal_plane.h.

◆ PointCloud

Definition at line 87 of file sac_model_normal_plane.h.

◆ PointCloudConstPtr

Definition at line 89 of file sac_model_normal_plane.h.

◆ PointCloudNConstPtr

Definition at line 92 of file sac_model_normal_plane.h.

◆ PointCloudNPtr

Definition at line 91 of file sac_model_normal_plane.h.

◆ PointCloudPtr

Definition at line 88 of file sac_model_normal_plane.h.

◆ Ptr

Definition at line 94 of file sac_model_normal_plane.h.

Constructor & Destructor Documentation

◆ SampleConsensusModelNormalPlane() [1/2]

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

Constructor for base SampleConsensusModelNormalPlane.

Parameters
[in]cloudthe input point cloud dataset
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 101 of file sac_model_normal_plane.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

◆ SampleConsensusModelNormalPlane() [2/2]

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

Constructor for base SampleConsensusModelNormalPlane.

Parameters
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 116 of file sac_model_normal_plane.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

◆ ~SampleConsensusModelNormalPlane()

Empty destructor.

Definition at line 128 of file sac_model_normal_plane.h.

Member Function Documentation

◆ countWithinDistance()

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

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

Parameters
[in]model_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholdmaximum admissible distance threshold for determining the inliers from the outliers
Returns
the resultant number of inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 106 of file sac_model_normal_plane.hpp.

◆ countWithinDistanceStandard()

std::size_t pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistanceStandard ( const Eigen::VectorXf & model_coefficients,
const double threshold,
std::size_t i = 0 ) const
protected

This implementation uses no SIMD instructions.

It is not intended for normal use. See countWithinDistance which automatically uses the fastest implementation.

Definition at line 130 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D(), and M_PI.

◆ getDistancesToModel()

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

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

Parameters
[in]model_coefficientsthe coefficients of a plane model that we need to compute distances to
[out]distancesthe resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 293 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D(), and M_PI.

◆ getModelType()

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

Return a unique id for this model (SACMODEL_NORMAL_PLANE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 160 of file sac_model_normal_plane.h.

References pcl::SACMODEL_NORMAL_PLANE.

◆ selectWithinDistance()

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

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

Parameters
[in]model_coefficientsthe coefficients of a plane model that we need to compute distances to
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe resultant model inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 50 of file sac_model_normal_plane.hpp.

References pcl::ConstCloudIterator< PointT >::ConstCloudIterator(), pcl::getAngle3D(), and M_PI.


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