SampleConsensusModelPlane defines a model for 3D plane segmentation. More...
#include <sac_model_plane.h>
Public Types | |
| typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
| typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
| typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
| typedef boost::shared_ptr < SampleConsensusModelPlane > | Ptr |
Public Member Functions | |
| 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_. The plane coefficients are: a, b, c, d (ax+by+cz+d=0). | |
| bool | doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, double threshold) |
| Verify whether a subset of indices verifies the given plane model coefficients. | |
| 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_PLANE). | |
| void | getSamples (int &iterations, std::vector< int > &samples) |
| Get 3 random non-collinear points as data samples and return them as point indices. | |
| 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. | |
| SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
| Constructor for base SampleConsensusModelPlane. | |
| SampleConsensusModelPlane (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModelPlane. | |
| void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector< int > &inliers) |
| Select all the points which respect the given model coefficients as inliers. | |
Protected Member Functions | |
| bool | isModelValid (const Eigen::VectorXf &model_coefficients) |
| Check whether a model is valid given the user constraints. | |
Static Private Attributes | |
| static const int | MAX_ITERATIONS_COLLINEAR = 1000 |
| Define the maximum number of iterations for collinearity checks. | |
SampleConsensusModelPlane defines a model for 3D plane segmentation.
Definition at line 99 of file sac_model_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelPlane< PointT >::PointCloud |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 105 of file sac_model_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelPlane< PointT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 107 of file sac_model_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelPlane< PointT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 106 of file sac_model_plane.h.
| typedef boost::shared_ptr<SampleConsensusModelPlane> pcl::SampleConsensusModelPlane< PointT >::Ptr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 109 of file sac_model_plane.h.
| pcl::SampleConsensusModelPlane< PointT >::SampleConsensusModelPlane | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelPlane.
| cloud | the input point cloud dataset |
Definition at line 114 of file sac_model_plane.h.
| pcl::SampleConsensusModelPlane< PointT >::SampleConsensusModelPlane | ( | const PointCloudConstPtr & | cloud, | |
| const std::vector< int > & | indices | |||
| ) | [inline] |
Constructor for base SampleConsensusModelPlane.
| cloud | the input point cloud dataset | |
| indices | a vector of point indices to be used from cloud |
Definition at line 120 of file sac_model_plane.h.
| bool pcl::SampleConsensusModelPlane< PointT >::computeModelCoefficients | ( | const std::vector< int > & | samples, | |
| Eigen::VectorXf & | model_coefficients | |||
| ) | [inline, virtual] |
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).
| samples | the point indices found as possible good candidates for creating a valid model | |
| model_coefficients | the resultant model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 121 of file sac_model_plane.hpp.
| bool pcl::SampleConsensusModelPlane< PointT >::doSamplesVerifyModel | ( | const std::set< int > & | indices, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| double | threshold | |||
| ) | [inline, virtual] |
Verify whether a subset of indices verifies the given plane model coefficients.
| indices | the data indices that need to be tested against the plane model | |
| model_coefficients | the plane model coefficients | |
| threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 325 of file sac_model_plane.hpp.
| void pcl::SampleConsensusModelPlane< PointT >::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, | |
| std::vector< double > & | distances | |||
| ) | [inline, virtual] |
Compute all distances from the cloud data to a given plane model.
| model_coefficients | the coefficients of a plane model that we need to compute distances to | |
| distances | the resultant estimated distances |
Implements pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 164 of file sac_model_plane.hpp.
| pcl::SacModel pcl::SampleConsensusModelPlane< PointT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_PLANE).
Implements pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 174 of file sac_model_plane.h.
| void pcl::SampleConsensusModelPlane< PointT >::getSamples | ( | int & | iterations, | |
| std::vector< int > & | samples | |||
| ) | [inline, virtual] |
Get 3 random non-collinear points as data samples and return them as point indices.
| iterations | the internal number of iterations used by SAC methods | |
| samples | the resultant model samples |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 45 of file sac_model_plane.hpp.
| bool pcl::SampleConsensusModelPlane< PointT >::isModelValid | ( | const Eigen::VectorXf & | model_coefficients | ) | [inline, protected, virtual] |
Check whether a model is valid given the user constraints.
| model_coefficients | the set of model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 181 of file sac_model_plane.h.
| void pcl::SampleConsensusModelPlane< PointT >::optimizeModelCoefficients | ( | const std::vector< int > & | inliers, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| Eigen::VectorXf & | optimized_coefficients | |||
| ) | [inline, virtual] |
Recompute the plane coefficients using the given inlier set and return them to the user.
| inliers | the data inliers found as supporting the model | |
| model_coefficients | the initial guess for the model coefficients | |
| optimized_coefficients | the resultant recomputed coefficients after non-linear optimization |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 229 of file sac_model_plane.hpp.
| void pcl::SampleConsensusModelPlane< PointT >::projectPoints | ( | const std::vector< int > & | inliers, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| PointCloud & | projected_points, | |||
| bool | copy_data_fields = true | |||
| ) | [inline, virtual] |
Create a new point cloud with inliers projected onto the plane model.
| inliers | the data inliers that we want to project on the plane model | |
| model_coefficients | the *normalized* coefficients of a plane model | |
| projected_points | the resultant projected points | |
| copy_data_fields | set to true if we need to copy the other data fields |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 258 of file sac_model_plane.hpp.
| void pcl::SampleConsensusModelPlane< PointT >::selectWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, | |
| double | threshold, | |||
| std::vector< int > & | inliers | |||
| ) | [inline, virtual] |
Select all the points which respect the given model coefficients as inliers.
| model_coefficients | the coefficients of a plane model that we need to compute distances to | |
| threshold | a maximum admissible distance threshold for determining the inliers from the outliers | |
| inliers | the resultant model inliers |
Implements pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelPerpendicularPlane< PointT >.
Definition at line 195 of file sac_model_plane.hpp.
const int pcl::SampleConsensusModelPlane< PointT >::MAX_ITERATIONS_COLLINEAR = 1000 [static, private] |
Define the maximum number of iterations for collinearity checks.
Definition at line 194 of file sac_model_plane.h.
