SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints. More...

#include <pcl/sample_consensus/sac_model_normal_plane.h>

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

Collaboration diagram for pcl::SampleConsensusModelNormalPlane< PointT, PointNT >:

Public Types
using	PointCloud = typename SampleConsensusModel< PointT >::PointCloud

using	PointCloudPtr = typename SampleConsensusModel< PointT >::PointCloudPtr

using	PointCloudConstPtr = typename SampleConsensusModel< PointT >::PointCloudConstPtr

using	PointCloudNPtr = typename SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr

using	PointCloudNConstPtr = typename SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr

using	Ptr = shared_ptr< SampleConsensusModelNormalPlane< PointT, PointNT > >

using	ConstPtr = shared_ptr< const SampleConsensusModelNormalPlane< PointT, PointNT > >

Public Types inherited from pcl::SampleConsensusModelPlane< PointT >
using	PointCloud = typename SampleConsensusModel< PointT >::PointCloud

using	PointCloudPtr = typename SampleConsensusModel< PointT >::PointCloudPtr

using	PointCloudConstPtr = typename SampleConsensusModel< PointT >::PointCloudConstPtr

using	Ptr = shared_ptr< SampleConsensusModelPlane< PointT > >

using	ConstPtr = shared_ptr< const SampleConsensusModelPlane< PointT > >

Public Types inherited from pcl::SampleConsensusModel< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointCloudPtr = typename PointCloud::Ptr

using	SearchPtr = typename pcl::search::Search< PointT >::Ptr

using	Ptr = shared_ptr< SampleConsensusModel< PointT > >

using	ConstPtr = shared_ptr< const SampleConsensusModel< PointT > >

Public Types inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
using	PointCloudNConstPtr = typename pcl::PointCloud< PointNT >::ConstPtr

using	PointCloudNPtr = typename pcl::PointCloud< PointNT >::Ptr

using	Ptr = shared_ptr< SampleConsensusModelFromNormals< PointT, PointNT > >

using	ConstPtr = shared_ptr< const SampleConsensusModelFromNormals< PointT, PointNT > >

Public Member Functions
	SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelNormalPlane. More...

	SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
	Constructor for base SampleConsensusModelNormalPlane. More...

	~SampleConsensusModelNormalPlane () override=default
	Empty destructor. More...

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. More...

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. More...

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. More...

pcl::SacModel	getModelType () const override
	Return a unique id for this model (SACMODEL_NORMAL_PLANE). More...

Public Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
	SampleConsensusModelPlane (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelPlane. More...

	SampleConsensusModelPlane (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
	Constructor for base SampleConsensusModelPlane. More...

	~SampleConsensusModelPlane () override=default
	Empty destructor. More...

bool	computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override
	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_. More...

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. More...

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. More...

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. More...

void	optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
	Recompute the plane coefficients using the given inlier set and return them to the user. More...

void	projectPoints (const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override
	Create a new point cloud with inliers projected onto the plane model. More...

bool	doSamplesVerifyModel (const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override
	Verify whether a subset of indices verifies the given plane model coefficients. More...

pcl::SacModel	getModelType () const override
	Return a unique id for this model (SACMODEL_PLANE). More...

Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModel. More...

	SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
	Constructor for base SampleConsensusModel. More...

virtual	~SampleConsensusModel ()=default
	Destructor for base SampleConsensusModel. More...

virtual void	getSamples (int &iterations, Indices &samples)
	Get a set of random data samples and return them as point indices. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const Indices &indices)
	Provide the vector of indices that represents the input data. More...

IndicesPtr	getIndices () const
	Get a pointer to the vector of indices used. More...

const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

unsigned int	getSampleSize () const
	Return the size of a sample from which the model is computed. More...

unsigned int	getModelSize () const
	Return the number of coefficients in the model. More...

void	setRadiusLimits (const double &min_radius, const double &max_radius)
	Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More...

void	getRadiusLimits (double &min_radius, double &max_radius) const
	Get the minimum and maximum allowable radius limits for the model as set by the user. More...

void	setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function)
	This can be used to impose any kind of constraint on the model, e.g. More...

void	setSamplesMaxDist (const double &radius, SearchPtr search)
	Set the maximum distance allowed when drawing random samples. More...

void	getSamplesMaxDist (double &radius) const
	Get maximum distance allowed when drawing random samples. More...

double	computeVariance (const std::vector< double > &error_sqr_dists) const
	Compute the variance of the errors to the model. More...

double	computeVariance () const
	Compute the variance of the errors to the model from the internally estimated vector of distances. More...

Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
	SampleConsensusModelFromNormals ()
	Empty constructor for base SampleConsensusModelFromNormals. More...

virtual	~SampleConsensusModelFromNormals ()=default
	Destructor. More...

void	setNormalDistanceWeight (const double w)
	Set the normal angular distance weight. More...

double	getNormalDistanceWeight () const
	Get the normal angular distance weight. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Protected Member Functions
std::size_t	countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
	This implementation uses no SIMD instructions. More...

Protected Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
std::size_t	countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const
	This implementation uses no SIMD instructions. More...

Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (bool random=false)
	Empty constructor for base SampleConsensusModel. More...

void	drawIndexSample (Indices &sample)
	Fills a sample array with random samples from the indices_ vector. More...

void	drawIndexSampleRadius (Indices &sample)
	Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More...

virtual bool	isModelValid (const Eigen::VectorXf &model_coefficients) const
	Check whether a model is valid given the user constraints. More...

int	rnd ()
	Boost-based random number generator. More...

Additional Inherited Members
Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
std::string	model_name_
	The model name. More...

PointCloudConstPtr	input_
	A boost shared pointer to the point cloud data array. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

double	radius_min_
	The minimum and maximum radius limits for the model. More...

double	radius_max_

double	samples_radius_
	The maximum distance of subsequent samples from the first (radius search) More...

SearchPtr	samples_radius_search_
	The search object for picking subsequent samples using radius search. More...

Indices	shuffled_indices_
	Data containing a shuffled version of the indices. More...

boost::mt19937	rng_alg_
	Boost-based random number generator algorithm. More...

std::shared_ptr< boost::uniform_int<> >	rng_dist_
	Boost-based random number generator distribution. More...

std::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > >	rng_gen_
	Boost-based random number generator. More...

std::vector< double >	error_sqr_dists_
	A vector holding the distances to the computed model. More...

unsigned int	sample_size_
	The size of a sample from which the model is computed. More...

unsigned int	model_size_
	The number of coefficients in the model. More...

std::function< bool(const Eigen::VectorXf &)>	custom_model_constraints_
	A user defined function that takes model coefficients and returns whether the model is acceptable or not. More...

Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
double	normal_distance_weight_ {0.0}
	The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. More...

PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
static const unsigned int	max_sample_checks_ = 1000
	The maximum number of samples to try until we get a good one. More...

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);
...

Author: Radu B. Rusu and Jared Glover

Definition at line 76 of file sac_model_normal_plane.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::ConstPtr = shared_ptr<const SampleConsensusModelNormalPlane<PointT, PointNT> >

Definition at line 95 of file sac_model_normal_plane.h.

◆ PointCloud

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloud = typename SampleConsensusModel<PointT>::PointCloud

Definition at line 87 of file sac_model_normal_plane.h.

◆ PointCloudConstPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr

Definition at line 89 of file sac_model_normal_plane.h.

◆ PointCloudNConstPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNConstPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr

Definition at line 92 of file sac_model_normal_plane.h.

◆ PointCloudNPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr

Definition at line 91 of file sac_model_normal_plane.h.

◆ PointCloudPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr

Definition at line 88 of file sac_model_normal_plane.h.

◆ Ptr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::Ptr = shared_ptr<SampleConsensusModelNormalPlane<PointT, PointNT> >

Definition at line 94 of file sac_model_normal_plane.h.

Constructor & Destructor Documentation

◆ SampleConsensusModelNormalPlane() [1/2]

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane	(	const PointCloudConstPtr &	cloud,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelNormalPlane.

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 101 of file sac_model_normal_plane.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

◆ SampleConsensusModelNormalPlane() [2/2]

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane	(	const PointCloudConstPtr &	cloud,
		const Indices &	indices,
		bool	random = `false`
	)

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
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 116 of file sac_model_normal_plane.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

◆ ~SampleConsensusModelNormalPlane()

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::~SampleConsensusModelNormalPlane ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ countWithinDistance()

template<typename PointT , typename PointNT >

std::size_t pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		const

overridevirtual

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 105 of file sac_model_normal_plane.hpp.

◆ countWithinDistanceStandard()

template<typename PointT , typename PointNT >

std::size_t pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistanceStandard	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		std::size_t	i = `0`
	)		const

protected

This implementation uses no SIMD instructions.

It is not intended for normal use. See countWithinDistance which automatically uses the fastest implementation.

Definition at line 129 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D(), and M_PI.

◆ getDistancesToModel()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistancesToModel	(	const Eigen::VectorXf &	model_coefficients,
		std::vector< double > &	distances
	)		const

overridevirtual

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 292 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D(), and M_PI.

◆ getModelType()

template<typename PointT , typename PointNT >

pcl::SacModel pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getModelType ( ) const

inlineoverridevirtual

Return a unique id for this model (SACMODEL_NORMAL_PLANE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 160 of file sac_model_normal_plane.h.

References pcl::SACMODEL_NORMAL_PLANE.

◆ selectWithinDistance()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		Indices &	inliers
	)

overridevirtual

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 49 of file sac_model_normal_plane.hpp.

References pcl::geometry::distance(), pcl::getAngle3D(), and M_PI.

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

pcl/sample_consensus/sac_model_normal_plane.h
pcl/sample_consensus/impl/sac_model_normal_plane.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ SampleConsensusModelNormalPlane() [1/2]

◆ SampleConsensusModelNormalPlane() [2/2]

◆ ~SampleConsensusModelNormalPlane()

Member Function Documentation

◆ countWithinDistance()

◆ countWithinDistanceStandard()

◆ getDistancesToModel()

◆ getModelType()

◆ selectWithinDistance()

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