SampleConsensusModelNormalPlane 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. More...
#include <sac_model_normal_plane.h>
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 < SampleConsensusModelNormalPlane > | 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. | |
| 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_NORMAL_PLANE). | |
| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModelNormalPlane. | |
| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
| Constructor for base SampleConsensusModelNormalPlane. | |
| 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. | |
Protected Member Functions | |
| bool | isModelValid (const Eigen::VectorXf &model_coefficients) |
| Check whether a model is valid given the user constraints. | |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelNormalPlane< PointT, PointNT >
SampleConsensusModelNormalPlane 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.
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); ...
Definition at line 75 of file sac_model_normal_plane.h.
Member Typedef Documentation
| typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloud |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 84 of file sac_model_normal_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 86 of file sac_model_normal_plane.h.
| typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNConstPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 89 of file sac_model_normal_plane.h.
| typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 88 of file sac_model_normal_plane.h.
| typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 85 of file sac_model_normal_plane.h.
| typedef boost::shared_ptr<SampleConsensusModelNormalPlane> pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::Ptr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 91 of file sac_model_normal_plane.h.
Constructor & Destructor Documentation
| pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelNormalPlane.
- Parameters:
-
[in] cloud the input point cloud dataset
Definition at line 96 of file sac_model_normal_plane.h.
| pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane | ( | const PointCloudConstPtr & | cloud, |
| const std::vector< int > & | indices | ||
| ) | [inline] |
Constructor for base SampleConsensusModelNormalPlane.
- Parameters:
-
[in] cloud the input point cloud dataset [in] indices a vector of point indices to be used from cloud
Definition at line 104 of file sac_model_normal_plane.h.
Member Function Documentation
| int pcl::SampleConsensusModelNormalPlane< 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 93 of file sac_model_normal_plane.hpp.
| void pcl::SampleConsensusModelNormalPlane< 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 133 of file sac_model_normal_plane.hpp.
| pcl::SacModel pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_NORMAL_PLANE).
Reimplemented from pcl::SampleConsensusModelPlane< PointT >.
Definition at line 138 of file sac_model_normal_plane.h.
| bool pcl::SampleConsensusModelNormalPlane< 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 174 of file sac_model_normal_plane.hpp.
| void pcl::SampleConsensusModelNormalPlane< 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 45 of file sac_model_normal_plane.hpp.
The documentation for this class was generated from the following files: