Point Cloud Library (PCL) 1.13.0
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sac_model_perpendicular_plane.h
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40
41#pragma once
42
43#include <pcl/sample_consensus/sac_model_plane.h>
44
45namespace pcl
46{
47 /** \brief SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional
48 * angular constraints. The plane must be perpendicular to a user-specified axis (\ref setAxis), up to a user-specified angle threshold (\ref setEpsAngle).
49 * In other words, the plane <b>normal</b> must be (nearly) <b>parallel</b> to the specified axis.
50 * The model coefficients are defined as:
51 * - \b a : the X coordinate of the plane's normal (normalized)
52 * - \b b : the Y coordinate of the plane's normal (normalized)
53 * - \b c : the Z coordinate of the plane's normal (normalized)
54 * - \b d : the fourth <a href="http://mathworld.wolfram.com/HessianNormalForm.html">Hessian component</a> of the plane's equation
55 *
56 *
57 * Code example for a plane model, perpendicular (within a 15 degrees tolerance) with the Z axis:
58 * \code
59 * SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud);
60 * model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
61 * model.setEpsAngle (pcl::deg2rad (15));
62 * \endcode
63 *
64 * \note Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!
65 *
66 * \author Radu B. Rusu
67 * \ingroup sample_consensus
68 */
69 template <typename PointT>
71 {
72 public:
74
78
79 using Ptr = shared_ptr<SampleConsensusModelPerpendicularPlane<PointT> >;
80 using ConstPtr = shared_ptr<const SampleConsensusModelPerpendicularPlane<PointT>>;
81
82 /** \brief Constructor for base SampleConsensusModelPerpendicularPlane.
83 * \param[in] cloud the input point cloud dataset
84 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
85 */
87 bool random = false)
88 : SampleConsensusModelPlane<PointT> (cloud, random)
89 , axis_ (Eigen::Vector3f::Zero ())
90 , eps_angle_ (0.0)
91 {
92 model_name_ = "SampleConsensusModelPerpendicularPlane";
93 sample_size_ = 3;
94 model_size_ = 4;
95 }
96
97 /** \brief Constructor for base SampleConsensusModelPerpendicularPlane.
98 * \param[in] cloud the input point cloud dataset
99 * \param[in] indices a vector of point indices to be used from \a cloud
100 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
101 */
103 const Indices &indices,
104 bool random = false)
105 : SampleConsensusModelPlane<PointT> (cloud, indices, random)
106 , axis_ (Eigen::Vector3f::Zero ())
107 , eps_angle_ (0.0)
108 {
109 model_name_ = "SampleConsensusModelPerpendicularPlane";
110 sample_size_ = 3;
111 model_size_ = 4;
112 }
113
114 /** \brief Empty destructor */
116
117 /** \brief Set the axis along which we need to search for a plane perpendicular to.
118 * \param[in] ax the axis along which we need to search for a plane perpendicular to
119 */
120 inline void
121 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
122
123 /** \brief Get the axis along which we need to search for a plane perpendicular to. */
124 inline Eigen::Vector3f
125 getAxis () const { return (axis_); }
126
127 /** \brief Set the angle epsilon (delta) threshold.
128 * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
129 * \note You need to specify an angle > 0 in order to activate the axis-angle constraint!
130 */
131 inline void
132 setEpsAngle (const double ea) { eps_angle_ = ea; }
133
134 /** \brief Get the angle epsilon (delta) threshold. */
135 inline double
136 getEpsAngle () const { return (eps_angle_); }
137
138 /** \brief Select all the points which respect the given model coefficients as inliers.
139 * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
140 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
141 * \param[out] inliers the resultant model inliers
142 */
143 void
144 selectWithinDistance (const Eigen::VectorXf &model_coefficients,
145 const double threshold,
146 Indices &inliers) override;
147
148 /** \brief Count all the points which respect the given model coefficients as inliers.
149 *
150 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
151 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
152 * \return the resultant number of inliers
153 */
154 std::size_t
155 countWithinDistance (const Eigen::VectorXf &model_coefficients,
156 const double threshold) const override;
157
158 /** \brief Compute all distances from the cloud data to a given plane model.
159 * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
160 * \param[out] distances the resultant estimated distances
161 */
162 void
163 getDistancesToModel (const Eigen::VectorXf &model_coefficients,
164 std::vector<double> &distances) const override;
165
166 /** \brief Return a unique id for this model (SACMODEL_PERPENDICULAR_PLANE). */
167 inline pcl::SacModel
168 getModelType () const override { return (SACMODEL_PERPENDICULAR_PLANE); }
169
170 protected:
173
174 /** \brief Check whether a model is valid given the user constraints.
175 * \param[in] model_coefficients the set of model coefficients
176 */
177 bool
178 isModelValid (const Eigen::VectorXf &model_coefficients) const override;
179
180 /** \brief The axis along which we need to search for a plane perpendicular to. */
181 Eigen::Vector3f axis_;
182
183 /** \brief The maximum allowed difference between the plane normal and the given axis. */
185 };
186}
187
188#ifdef PCL_NO_PRECOMPILE
189#include <pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp>
190#endif
SampleConsensusModel represents the base model class.
Definition sac_model.h:70
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition sac_model.h:588
std::string model_name_
The model name.
Definition sac_model.h:550
unsigned int model_size_
The number of coefficients in the model.
Definition sac_model.h:591
SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional ang...
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the cloud data to a given plane model.
~SampleConsensusModelPerpendicularPlane() override=default
Empty destructor.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a plane perpendicular to.
double eps_angle_
The maximum allowed difference between the plane normal and the given axis.
typename SampleConsensusModelPlane< PointT >::PointCloudConstPtr PointCloudConstPtr
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
typename SampleConsensusModelPlane< PointT >::PointCloud PointCloud
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
shared_ptr< SampleConsensusModelPerpendicularPlane< PointT > > Ptr
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
shared_ptr< const SampleConsensusModelPerpendicularPlane< PointT > > ConstPtr
typename SampleConsensusModelPlane< PointT >::PointCloudPtr PointCloudPtr
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
typename SampleConsensusModel< PointT >::PointCloud PointCloud
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
Definition bfgs.h:10
@ SACMODEL_PERPENDICULAR_PLANE
Definition model_types.h:56
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.