SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints. The plane must be perpendicular to an user-specified axis (setAxis), up to an user-specified angle threshold (setEpsAngle). The model coefficients are defined as: More...

#include <sac_model_perpendicular_plane.h>

Inheritance diagram for pcl::SampleConsensusModelPerpendicularPlane< PointT >:

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List of all members.

Public Types
typedef SampleConsensusModelPlane < PointT >::PointCloud	PointCloud
typedef SampleConsensusModelPlane < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModelPlane < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelPerpendicularPlane >	Ptr
Public Member Functions
virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers.
Eigen::Vector3f	getAxis ()
	Get the axis along which we need to search for a plane perpendicular to.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given plane model.
double	getEpsAngle ()
	Get the angle epsilon (delta) threshold.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
	SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelPerpendicularPlane.
	SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelPerpendicularPlane.
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.
void	setAxis (const Eigen::Vector3f &ax)
	Set the axis along which we need to search for a plane perpendicular to.
void	setEpsAngle (const double ea)
	Set the angle epsilon (delta) threshold.
Protected Member Functions
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.
Protected Attributes
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 normal and the given axis.

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelPerpendicularPlane< PointT >

SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints. The plane must be perpendicular to an user-specified axis (setAxis), up to an user-specified angle threshold (setEpsAngle). 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

Code example for a plane model, perpendicular (within a 15 degrees tolerance) with the Z axis:

 SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud);
 model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
 model.setEpsAngle (pcl::deg2rad (15));

Note:: Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!

Author:: Radu B. Rusu

Definition at line 70 of file sac_model_perpendicular_plane.h.

Member Typedef Documentation

template<typename PointT>

typedef SampleConsensusModelPlane<PointT>::PointCloud pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 73 of file sac_model_perpendicular_plane.h.

template<typename PointT>

typedef SampleConsensusModelPlane<PointT>::PointCloudConstPtr pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 75 of file sac_model_perpendicular_plane.h.

template<typename PointT>

typedef SampleConsensusModelPlane<PointT>::PointCloudPtr pcl::SampleConsensusModelPerpendicularPlane< PointT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 74 of file sac_model_perpendicular_plane.h.

template<typename PointT>

typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> pcl::SampleConsensusModelPerpendicularPlane< PointT >::Ptr

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 77 of file sac_model_perpendicular_plane.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane ( const PointCloudConstPtr & cloud ) [inline]

Constructor for base SampleConsensusModelPerpendicularPlane.

Parameters:

[in] cloud the input point cloud dataset

Definition at line 82 of file sac_model_perpendicular_plane.h.

template<typename PointT>

pcl::SampleConsensusModelPerpendicularPlane< PointT >::SampleConsensusModelPerpendicularPlane	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices
	)		`[inline]`

Constructor for base SampleConsensusModelPerpendicularPlane.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	indices	a vector of point indices to be used from cloud

Definition at line 93 of file sac_model_perpendicular_plane.h.

Member Function Documentation

template<typename PointT >

int pcl::SampleConsensusModelPerpendicularPlane< PointT >::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 60 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>

Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane< PointT >::getAxis ( ) [inline]

Get the axis along which we need to search for a plane perpendicular to.

Definition at line 109 of file sac_model_perpendicular_plane.h.

template<typename PointT >

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::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 72 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>

double pcl::SampleConsensusModelPerpendicularPlane< PointT >::getEpsAngle ( ) [inline]

Get the angle epsilon (delta) threshold.

Definition at line 120 of file sac_model_perpendicular_plane.h.

template<typename PointT>

pcl::SacModel pcl::SampleConsensusModelPerpendicularPlane< PointT >::getModelType ( ) const [inline, virtual]

Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 152 of file sac_model_perpendicular_plane.h.

template<typename PointT >

bool pcl::SampleConsensusModelPerpendicularPlane< PointT >::isModelValid ( const Eigen::VectorXf & model_coefficients ) [protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:

[in] model_coefficients the set of model coefficients

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 87 of file sac_model_perpendicular_plane.hpp.

template<typename PointT >

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::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 45 of file sac_model_perpendicular_plane.hpp.

template<typename PointT>

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::setAxis ( const Eigen::Vector3f & ax ) [inline]

Set the axis along which we need to search for a plane perpendicular to.

Parameters:

[in] ax the axis along which we need to search for a plane perpendicular to

Definition at line 105 of file sac_model_perpendicular_plane.h.

template<typename PointT>

void pcl::SampleConsensusModelPerpendicularPlane< PointT >::setEpsAngle ( const double ea ) [inline]

Set the angle epsilon (delta) threshold.

Parameters:

[in] ea the maximum allowed difference between the plane normal and the given axis.

Note:: You need to specify an angle > 0 in order to activate the axis-angle constraint!

Definition at line 116 of file sac_model_perpendicular_plane.h.

Member Data Documentation

template<typename PointT>

Eigen::Vector3f pcl::SampleConsensusModelPerpendicularPlane< PointT >::axis_ [protected]

The axis along which we need to search for a plane perpendicular to.

Definition at line 162 of file sac_model_perpendicular_plane.h.

template<typename PointT>

double pcl::SampleConsensusModelPerpendicularPlane< PointT >::eps_angle_ [protected]

The maximum allowed difference between the plane normal and the given axis.

Definition at line 165 of file sac_model_perpendicular_plane.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::SampleConsensusModelPerpendicularPlane< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::SampleConsensusModelPerpendicularPlane< PointT >