SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. In addition, the plane normal must lie parallel to an user-specified axis. More...

#include <sac_model_normal_parallel_plane.h>

Inheritance diagram for pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >:

[legend]

List of all members.

Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNConstPtr	PointCloudNConstPtr
typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNPtr	PointCloudNPtr
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelNormalParallelPlane >	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.
double	getDistanceFromOrigin ()
	Get the distance of the plane from the origin.
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.
double	getEpsDist ()
	Get the distance epsilon (delta) threshold.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE).
	SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelNormalParallelPlane.
	SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelNormalParallelPlane.
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	setDistanceFromOrigin (const double d)
	Set the distance we expect the plane to be from the origin.
void	setEpsAngle (const double ea)
	Set the angle epsilon (delta) threshold.
void	setEpsDist (const double delta)
	Set the distance epsilon (delta) threshold.
virtual	~SampleConsensusModelNormalParallelPlane ()
	Empty destructor.
Protected Member Functions
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.
Private Attributes
Eigen::Vector4f	axis_
	The axis along which we need to search for a plane perpendicular to.
double	cos_angle_
	The cosine of the angle.
double	distance_from_origin_
	The distance from the template plane to the origin.
double	eps_angle_
	The maximum allowed difference between the plane normal and the given axis.
double	eps_dist_
	The maximum allowed deviation from the template distance from the origin.

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >

SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. In addition, the plane normal must lie parallel to an user-specified axis.

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

To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

 SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model;
 ...
 sac_model.setNormalDistanceWeight (0.1);
 ...

In addition, the user can specify more constraints, such as:

an axis along which we need to search for a plane perpendicular to (setAxis);
an angle tolerance threshold between the plane's normal and the above given axis (setEpsAngle);
a distance we expect the plane to be from the origin (setDistanceFromOrigin);
a distance tolerance as the maximum allowed deviation from the above given distance from the origin (setEpsDist).

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

Author:: Radu B. Rusu and Jared Glover and Nico Blodow

Definition at line 86 of file sac_model_normal_parallel_plane.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloud

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 95 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 97 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNConstPtr

Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.

Definition at line 100 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudNPtr

Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.

Definition at line 99 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 96 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<SampleConsensusModelNormalParallelPlane> pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::Ptr

Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.

Definition at line 102 of file sac_model_normal_parallel_plane.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

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

Constructor for base SampleConsensusModelNormalParallelPlane.

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 108 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

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

Constructor for base SampleConsensusModelNormalParallelPlane.

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 125 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

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

Empty destructor.

Definition at line 139 of file sac_model_normal_parallel_plane.h.

Member Function Documentation

template<typename PointT , typename PointNT >

int pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 99 of file sac_model_normal_parallel_plane.hpp.

template<typename PointT, typename PointNT>

Eigen::Vector3f pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getAxis ( ) [inline]

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

Definition at line 149 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getDistanceFromOrigin ( ) [inline]

Get the distance of the plane from the origin.

Definition at line 170 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 139 of file sac_model_normal_parallel_plane.hpp.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getEpsAngle ( ) [inline]

Get the angle epsilon (delta) threshold.

Definition at line 160 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::getEpsDist ( ) [inline]

Get the distance epsilon (delta) threshold.

Definition at line 180 of file sac_model_normal_parallel_plane.h.

template<typename PointT, typename PointNT>

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

Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE).

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 212 of file sac_model_normal_parallel_plane.h.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 179 of file sac_model_normal_parallel_plane.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >::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 48 of file sac_model_normal_parallel_plane.hpp.

template<typename PointT, typename PointNT>

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