Public Types | Public Member Functions | Protected Member Functions | Private Member Functions
pcl::SampleConsensusModelPlane< PointT > Class Template Reference

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 >:
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List of all members.

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:

Author:
Radu B. Rusu

Definition at line 136 of file sac_model_plane.h.


Member Typedef Documentation

template<typename PointT>
typedef boost::shared_ptr<SampleConsensusModelPlane> pcl::SampleConsensusModelPlane< PointT >::Ptr

Constructor & Destructor Documentation

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

Constructor for base SampleConsensusModelPlane.

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 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]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 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]samplesthe point indices found as possible good candidates for creating a valid model
[out]model_coefficientsthe 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_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 >.

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]indicesthe data indices that need to be tested against the plane model
[in]model_coefficientsthe plane model coefficients
[in]thresholda 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_coefficientsthe coefficients of a plane model that we need to compute distances to
[out]distancesthe 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]
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_coefficientsthe 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]samplesthe 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]inliersthe data inliers found as supporting the model
[in]model_coefficientsthe initial guess for the model coefficients
[out]optimized_coefficientsthe 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]inliersthe data inliers that we want to project on the plane model
[in]model_coefficientsthe *normalized* coefficients of a plane model
[out]projected_pointsthe resultant projected points
[in]copy_data_fieldsset 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_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 >.

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:


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:43:35