SampleConsensusModelPlane defines a model for 3D plane segmentation. The model coefficients are defined as: More...

#include <sac_model_plane.h>

Inheritance diagram for pcl::SampleConsensusModelPlane< PointT >:

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)
virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers.
bool	doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const 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	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, bool random=false)
	Constructor for base SampleConsensusModelPlane.
	SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelPlane.
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.
virtual	~SampleConsensusModelPlane ()
	Empty destructor.
Protected Member Functions
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.
Private Member Functions
virtual bool	isSampleGood (const std::vector< int > &samples) const
	Check if a sample of indices results in a good sample of points indices.

Detailed Description

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

SampleConsensusModelPlane defines a model for 3D plane segmentation. 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

Author:: Radu B. Rusu

Definition at line 136 of file sac_model_plane.h.

Member Typedef Documentation

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, and pcl::SampleConsensusModelParallelPlane< PointT >.

Definition at line 143 of file sac_model_plane.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, and pcl::SampleConsensusModelParallelPlane< PointT >.

Definition at line 145 of file sac_model_plane.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, and pcl::SampleConsensusModelParallelPlane< PointT >.

Definition at line 144 of file sac_model_plane.h.

template<typename PointT>

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::SampleConsensusModelPerpendicularPlane< PointT >, and pcl::SampleConsensusModelParallelPlane< PointT >.

Definition at line 147 of file sac_model_plane.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::SampleConsensusModelPlane< PointT >::SampleConsensusModelPlane	(	const PointCloudConstPtr &	cloud,
		bool	random = `false`
	)		`[inline]`

Constructor for base SampleConsensusModelPlane.

Parameters:

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

Definition at line 153 of file sac_model_plane.h.

template<typename PointT>

pcl::SampleConsensusModelPlane< PointT >::SampleConsensusModelPlane	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices,
		bool	random = `false`
	)		`[inline]`

Constructor for base SampleConsensusModelPlane.

Parameters:

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

Definition at line 161 of file sac_model_plane.h.

template<typename PointT>

virtual pcl::SampleConsensusModelPlane< PointT >::~SampleConsensusModelPlane ( ) [inline, virtual]

Empty destructor.

Definition at line 167 of file sac_model_plane.h.

Member Function Documentation

template<typename PointT >

bool pcl::SampleConsensusModelPlane< PointT >::computeModelCoefficients	(	const std::vector< int > &	samples,
		Eigen::VectorXf &	model_coefficients
	)		`[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)

Parameters:

[in]	samples	the point indices found as possible good candidates for creating a valid model
[out]	model_coefficients	the resultant model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 69 of file sac_model_plane.hpp.

template<typename PointT >

int pcl::SampleConsensusModelPlane< 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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 183 of file sac_model_plane.hpp.

template<typename PointT >

bool pcl::SampleConsensusModelPlane< PointT >::doSamplesVerifyModel	(	const std::set< int > &	indices,
		const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		`[virtual]`

Verify whether a subset of indices verifies the given plane model coefficients.

Parameters:

[in]	indices	the data indices that need to be tested against the plane model
[in]	model_coefficients	the plane model coefficients
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 345 of file sac_model_plane.hpp.

template<typename PointT >

void pcl::SampleConsensusModelPlane< 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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 112 of file sac_model_plane.hpp.

template<typename PointT>

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::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 242 of file sac_model_plane.h.

template<typename PointT>

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

Check whether a model is valid given the user constraints.

Parameters:

[in] model_coefficients the set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, and pcl::SampleConsensusModelParallelPlane< PointT >.

Definition at line 249 of file sac_model_plane.h.

template<typename PointT >

bool pcl::SampleConsensusModelPlane< PointT >::isSampleGood ( const std::vector< int > & samples ) const [private, virtual]

Check if a sample of indices results in a good sample of points indices.

Parameters:

[in] samples the resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 52 of file sac_model_plane.hpp.

template<typename PointT >

void pcl::SampleConsensusModelPlane< PointT >::optimizeModelCoefficients	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)		`[virtual]`

Recompute the plane coefficients using the given inlier set and return them to the user.

Note:: : these are the coefficients of the plane model after refinement (eg. after SVD)

Parameters:

[in]	inliers	the data inliers found as supporting the model
[in]	model_coefficients	the initial guess for the model coefficients
[out]	optimized_coefficients	the resultant recomputed coefficients after non-linear optimization

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 212 of file sac_model_plane.hpp.

template<typename PointT >

void pcl::SampleConsensusModelPlane< PointT >::projectPoints	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		PointCloud &	projected_points,
		bool	copy_data_fields = `true`
	)		`[virtual]`

Create a new point cloud with inliers projected onto the plane model.

Parameters:

[in]	inliers	the data inliers that we want to project on the plane model
[in]	model_coefficients	the normalized coefficients of a plane model
[out]	projected_points	the resultant projected points
[in]	copy_data_fields	set to true if we need to copy the other data fields

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 261 of file sac_model_plane.hpp.

template<typename PointT >

void pcl::SampleConsensusModelPlane< 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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelPerpendicularPlane< PointT >, pcl::SampleConsensusModelParallelPlane< PointT >, and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >.

Definition at line 143 of file sac_model_plane.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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