A Sample Consensus Model class for 3D plane segmentation. More...

#include <sac_model_plane.h>

Inheritance diagram for sample_consensus::SACModelPlane:

Public Member Functions
virtual bool	computeModelCoefficients (const std::vector< int > &samples)
	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 bool	doSamplesVerifyModel (const std::set< int > &indices, double threshold)
	Verify whether a subset of indices verifies the internal plane model coefficients.
virtual void	getDistancesToModel (const std::vector< double > &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given plane model.
virtual int	getModelType ()
	Return an unique id for this model (SACMODEL_PLANE).
virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get 3 random non-collinear points as data samples and return them as point indices.
virtual void	projectPoints (const std::vector< int > &inliers, const std::vector< double > &model_coefficients, sensor_msgs::PointCloud &projected_points)
	Create a new point cloud with inliers projected onto the plane model.
virtual void	projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)
	Project inliers (in place) onto the given plane model.
virtual void	refitModel (const std::vector< int > &inliers, std::vector< double > &refit_coefficients)
	Recompute the plane coefficients using the given inlier set and return them to the user.
	SACModelPlane ()
	Constructor for base SACModelPlane.
virtual void	selectWithinDistance (const std::vector< double > &model_coefficients, double threshold, std::vector< int > &inliers)
	Select all the points which respect the given model coefficients as inliers.
bool	testModelCoefficients (const std::vector< double > &model_coefficients)
	Test whether the given model coefficients are valid given the input point cloud data.
virtual	~SACModelPlane ()
	Destructor for base SACModelPlane.
Static Public Member Functions
static int	functionToOptimize (void p, int m, int n, const double x, double *fvec, int iflag)

Detailed Description

A Sample Consensus Model class for 3D plane segmentation.

Definition at line 46 of file sac_model_plane.h.

Constructor & Destructor Documentation

sample_consensus::SACModelPlane::SACModelPlane ( ) [inline]

Constructor for base SACModelPlane.

Definition at line 51 of file sac_model_plane.h.

virtual sample_consensus::SACModelPlane::~SACModelPlane ( ) [inline, virtual]

Destructor for base SACModelPlane.

Definition at line 55 of file sac_model_plane.h.

Member Function Documentation

bool sample_consensus::SACModelPlane::computeModelCoefficients ( const std::vector< int > & samples ) [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:

samples the point indices found as possible good candidates for creating a valid model

Implements sample_consensus::SACModel.

Definition at line 248 of file sac_model_plane.cpp.

bool sample_consensus::SACModelPlane::doSamplesVerifyModel	(	const std::set< int > &	indices,
		double	threshold
	)		`[virtual]`

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

Parameters:

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

Implements sample_consensus::SACModel.

Definition at line 332 of file sac_model_plane.cpp.

static int sample_consensus::SACModelPlane::functionToOptimize	(	void *	p,
		int	m,
		int	n,
		const double *	x,
		double *	fvec,
		int	iflag
	)		`[static]`

void sample_consensus::SACModelPlane::getDistancesToModel	(	const std::vector< double > &	model_coefficients,
		std::vector< double > &	distances
	)		`[virtual]`

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

Parameters:

model_coefficients	the coefficients of a plane model that we need to compute distances to
distances	the resultant estimated distances

Implements sample_consensus::SACModel.

Reimplemented in sample_consensus::SACModelNormalPlane, and sample_consensus::SACModelOrientedPlane.

Definition at line 144 of file sac_model_plane.cpp.

virtual int sample_consensus::SACModelPlane::getModelType ( ) [inline, virtual]

Return an unique id for this model (SACMODEL_PLANE).

Implements sample_consensus::SACModel.

Reimplemented in sample_consensus::SACModelNormalPlane, and sample_consensus::SACModelOrientedPlane.

Definition at line 81 of file sac_model_plane.h.

void sample_consensus::SACModelPlane::getSamples	(	int &	iterations,
		std::vector< int > &	samples
	)		`[virtual]`

Get 3 random non-collinear points as data samples and return them as point indices.

Parameters:

iterations	the internal number of iterations used by SAC methods
samples	the resultant model samples

Note:: assumes unique points!

Implements sample_consensus::SACModel.

Definition at line 45 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::projectPoints	(	const std::vector< int > &	inliers,
		const std::vector< double > &	model_coefficients,
		sensor_msgs::PointCloud &	projected_points
	)		`[virtual]`

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

Parameters:

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

Implements sample_consensus::SACModel.

Definition at line 166 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::projectPointsInPlace	(	const std::vector< int > &	inliers,
		const std::vector< double > &	model_coefficients
	)		`[virtual]`

Project inliers (in place) onto the given plane model.

Parameters:

inliers	the data inliers that we want to project on the plane model
model_coefficients	the normalized coefficients of a plane model

Implements sample_consensus::SACModel.

Definition at line 214 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::refitModel	(	const std::vector< int > &	inliers,
		std::vector< double > &	refit_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:

inliers	the data inliers found as supporting the model
refit_coefficients	the resultant recomputed coefficients after non-linear optimization

Implements sample_consensus::SACModel.

Definition at line 306 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::selectWithinDistance	(	const std::vector< double > &	model_coefficients,
		double	threshold,
		std::vector< int > &	inliers
	)		`[virtual]`

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

Parameters:

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

Note:: : we should compare (e^2) < (T^2) but instead we use fabs(e) because threshold is always positive; : To get the refined inliers of a model, use: ANNpoint refined_coeff = refitModel (...); selectWithinDistance (refined_coeff, threshold);

Implements sample_consensus::SACModel.

Reimplemented in sample_consensus::SACModelNormalPlane, and sample_consensus::SACModelOrientedPlane.

Definition at line 114 of file sac_model_plane.cpp.

bool sample_consensus::SACModelPlane::testModelCoefficients ( const std::vector< double > & model_coefficients ) [inline, virtual]

Test whether the given model coefficients are valid given the input point cloud data.

Parameters:

model_coefficients the model coefficients that need to be tested

Todo:: implement this

Implements sample_consensus::SACModel.

Definition at line 64 of file sac_model_plane.h.

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation