Point Cloud Library (PCL)  1.12.1-dev
organized_multi_plane_segmentation.h
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39 
40 #pragma once
41 
42 #include <pcl/segmentation/planar_region.h>
43 #include <pcl/pcl_base.h>
44 #include <pcl/pcl_macros.h>
45 #include <pcl/common/angles.h>
46 #include <pcl/common/utils.h>
47 #include <pcl/PointIndices.h>
48 #include <pcl/ModelCoefficients.h>
49 #include <pcl/segmentation/plane_coefficient_comparator.h>
50 #include <pcl/segmentation/plane_refinement_comparator.h>
51 
52 namespace pcl
53 {
54  /** \brief OrganizedMultiPlaneSegmentation finds all planes present in the
55  * input cloud, and outputs a vector of plane equations, as well as a vector
56  * of point clouds corresponding to the inliers of each detected plane. Only
57  * planes with more than min_inliers points are detected.
58  * Templated on point type, normal type, and label type
59  *
60  * \author Alex Trevor, Suat Gedikli
61  */
62  template<typename PointT, typename PointNT, typename PointLT>
64  {
69 
70  public:
72  using PointCloudPtr = typename PointCloud::Ptr;
74 
76  using PointCloudNPtr = typename PointCloudN::Ptr;
78 
80  using PointCloudLPtr = typename PointCloudL::Ptr;
82 
86 
90 
91  /** \brief Constructor for OrganizedMultiPlaneSegmentation. */
93  normals_ (),
94  min_inliers_ (1000),
95  angular_threshold_ (pcl::deg2rad (3.0)),
96  distance_threshold_ (0.02),
97  maximum_curvature_ (0.001),
98  project_points_ (false),
100  {
101  }
102 
103  /** \brief Destructor for OrganizedMultiPlaneSegmentation. */
104 
105  ~OrganizedMultiPlaneSegmentation () override = default;
106 
107  /** \brief Provide a pointer to the input normals.
108  * \param[in] normals the input normal cloud
109  */
110  inline void
112  {
113  normals_ = normals;
114  }
115 
116  /** \brief Get the input normals. */
117  inline PointCloudNConstPtr
119  {
120  return (normals_);
121  }
122 
123  /** \brief Set the minimum number of inliers required for a plane
124  * \param[in] min_inliers the minimum number of inliers required per plane
125  */
126  inline void
127  setMinInliers (unsigned min_inliers)
128  {
129  min_inliers_ = min_inliers;
130  }
131 
132  /** \brief Get the minimum number of inliers required per plane. */
133  inline unsigned
134  getMinInliers () const
135  {
136  return (min_inliers_);
137  }
138 
139  /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
140  * \param[in] angular_threshold the tolerance in radians
141  */
142  inline void
143  setAngularThreshold (double angular_threshold)
144  {
145  angular_threshold_ = angular_threshold;
146  }
147 
148  /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
149  inline double
151  {
152  return (angular_threshold_);
153  }
154 
155  /** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
156  * \param[in] distance_threshold the tolerance in meters
157  */
158  inline void
159  setDistanceThreshold (double distance_threshold)
160  {
161  distance_threshold_ = distance_threshold;
162  }
163 
164  /** \brief Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. */
165  inline double
167  {
168  return (distance_threshold_);
169  }
170 
171  /** \brief Set the maximum curvature allowed for a planar region.
172  * \param[in] maximum_curvature the maximum curvature
173  */
174  inline void
175  setMaximumCurvature (double maximum_curvature)
176  {
177  maximum_curvature_ = maximum_curvature;
178  }
179 
180  /** \brief Get the maximum curvature allowed for a planar region. */
181  inline double
183  {
184  return (maximum_curvature_);
185  }
186 
187  /** \brief Provide a pointer to the comparator to be used for segmentation.
188  * \param[in] compare A pointer to the comparator to be used for segmentation.
189  */
190  void
192  {
193  compare_ = compare;
194  }
195 
196  /** \brief Provide a pointer to the comparator to be used for refinement.
197  * \param[in] compare A pointer to the comparator to be used for refinement.
198  */
199  void
201  {
202  refinement_compare_ = compare;
203  }
204 
205  /** \brief Set whether or not to project boundary points to the plane, or leave them in the original 3D space.
206  * \param[in] project_points true if points should be projected, false if not.
207  */
208  void
209  setProjectPoints (bool project_points)
210  {
211  project_points_ = project_points;
212  }
213 
214  /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
215  * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
216  * \param[out] inlier_indices a vector of inliers for each detected plane
217  * \param[out] centroids a vector of centroids for each plane
218  * \param[out] covariances a vector of covariance matricies for the inliers of each plane
219  * \param[out] labels a point cloud for the connected component labels of each pixel
220  * \param[out] label_indices a vector of PointIndices for each labeled component
221  */
222  void
223  segment (std::vector<ModelCoefficients>& model_coefficients,
224  std::vector<PointIndices>& inlier_indices,
225  std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
226  std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
227  pcl::PointCloud<PointLT>& labels,
228  std::vector<pcl::PointIndices>& label_indices);
229 
230  /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
231  * \param[out] model_coefficients a vector of model_coefficients for each plane found in the input cloud
232  * \param[out] inlier_indices a vector of inliers for each detected plane
233  */
234  void
235  segment (std::vector<ModelCoefficients>& model_coefficients,
236  std::vector<PointIndices>& inlier_indices);
237 
238  /** \brief Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
239  * \param[out] regions a list of resultant planar polygonal regions
240  */
241  void
242  segment (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
243 
244  /** \brief Perform a segmentation, as well as an additional refinement step. This helps with including points whose normals may not match neighboring points well, but may match the planar model well.
245  * \param[out] regions A list of regions generated by segmentation and refinement.
246  */
247  void
248  segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions);
249 
250  /** \brief Perform a segmentation, as well as additional refinement step. Returns intermediate data structures for use in
251  * subsequent processing.
252  * \param[out] regions A vector of PlanarRegions generated by segmentation
253  * \param[out] model_coefficients A vector of model coefficients for each segmented plane
254  * \param[out] inlier_indices A vector of PointIndices, indicating the inliers to each segmented plane
255  * \param[out] labels A PointCloud<PointLT> corresponding to the resulting segmentation.
256  * \param[out] label_indices A vector of PointIndices for each label
257  * \param[out] boundary_indices A vector of PointIndices corresponding to the outer boundary / contour of each label
258  */
259  void
260  segmentAndRefine (std::vector<PlanarRegion<PointT>, Eigen::aligned_allocator<PlanarRegion<PointT> > >& regions,
261  std::vector<ModelCoefficients>& model_coefficients,
262  std::vector<PointIndices>& inlier_indices,
263  PointCloudLPtr& labels,
264  std::vector<pcl::PointIndices>& label_indices,
265  std::vector<pcl::PointIndices>& boundary_indices);
266 
267  /** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
268  * \param [in] model_coefficients The list of segmented model coefficients
269  * \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
270  * \param [in] labels The labels produced by the initial segmentation
271  * \param [in] label_indices The list of indices corresponding to each label
272  */
273  void
274  refine (std::vector<ModelCoefficients>& model_coefficients,
275  std::vector<PointIndices>& inlier_indices,
276  PointCloudLPtr& labels,
277  std::vector<pcl::PointIndices>& label_indices);
278 
279  protected:
280 
281  /** \brief A pointer to the input normals */
283 
284  /** \brief The minimum number of inliers required for each plane. */
285  unsigned min_inliers_;
286 
287  /** \brief The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
289 
290  /** \brief The tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. */
292 
293  /** \brief The tolerance for maximum curvature after fitting a plane. Used to remove smooth, but non-planar regions. */
295 
296  /** \brief Whether or not points should be projected to the plane, or left in the original 3D space. */
298 
299  /** \brief A comparator for comparing neighboring pixels' plane equations. */
301 
302  /** \brief A comparator for use on the refinement step. Compares points to regions segmented in the first pass. */
304 
305  /** \brief Class getName method. */
306  virtual std::string
307  getClassName () const
308  {
309  return ("OrganizedMultiPlaneSegmentation");
310  }
311  };
312 
313 }
314 
315 #ifdef PCL_NO_PRECOMPILE
316 #include <pcl/segmentation/impl/organized_multi_plane_segmentation.hpp>
317 #endif
Define standard C methods to do angle calculations.
OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
double getDistanceThreshold() const
Get the distance threshold in meters (d component of plane equation) between neighboring points,...
void segment(std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< Eigen::Matrix3f, Eigen::aligned_allocator< Eigen::Matrix3f > > &covariances, pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices)
Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()
void setRefinementComparator(const PlaneRefinementComparatorPtr &compare)
Provide a pointer to the comparator to be used for refinement.
unsigned getMinInliers() const
Get the minimum number of inliers required per plane.
void setDistanceThreshold(double distance_threshold)
Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) ...
bool project_points_
Whether or not points should be projected to the plane, or left in the original 3D space.
PlaneComparatorPtr compare_
A comparator for comparing neighboring pixels' plane equations.
double distance_threshold_
The tolerance in meters for difference in perpendicular distance (d component of plane equation) to t...
unsigned min_inliers_
The minimum number of inliers required for each plane.
void segmentAndRefine(std::vector< PlanarRegion< PointT >, Eigen::aligned_allocator< PlanarRegion< PointT > > > &regions)
Perform a segmentation, as well as an additional refinement step.
void setComparator(const PlaneComparatorPtr &compare)
Provide a pointer to the comparator to be used for segmentation.
double maximum_curvature_
The tolerance for maximum curvature after fitting a plane.
~OrganizedMultiPlaneSegmentation() override=default
Destructor for OrganizedMultiPlaneSegmentation.
void setMinInliers(unsigned min_inliers)
Set the minimum number of inliers required for a plane.
virtual std::string getClassName() const
Class getName method.
double getMaximumCurvature() const
Get the maximum curvature allowed for a planar region.
typename PlaneRefinementComparator::ConstPtr PlaneRefinementComparatorConstPtr
void setProjectPoints(bool project_points)
Set whether or not to project boundary points to the plane, or leave them in the original 3D space.
typename PlaneComparator::ConstPtr PlaneComparatorConstPtr
double angular_threshold_
The tolerance in radians for difference in normal direction between neighboring points,...
PointCloudNConstPtr getInputNormals() const
Get the input normals.
void setMaximumCurvature(double maximum_curvature)
Set the maximum curvature allowed for a planar region.
void setAngularThreshold(double angular_threshold)
Set the tolerance in radians for difference in normal direction between neighboring points,...
double getAngularThreshold() const
Get the angular threshold in radians for difference in normal direction between neighboring points,...
PointCloudNConstPtr normals_
A pointer to the input normals.
OrganizedMultiPlaneSegmentation()
Constructor for OrganizedMultiPlaneSegmentation.
PlaneRefinementComparatorPtr refinement_compare_
A comparator for use on the refinement step.
typename PlaneRefinementComparator::Ptr PlaneRefinementComparatorPtr
void refine(std::vector< ModelCoefficients > &model_coefficients, std::vector< PointIndices > &inlier_indices, PointCloudLPtr &labels, std::vector< pcl::PointIndices > &label_indices)
Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by ...
PCL base class.
Definition: pcl_base.h:70
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PlanarRegion represents a set of points that lie in a plane.
Definition: planar_region.h:52
PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...
shared_ptr< PlaneCoefficientComparator< PointT, PointNT > > Ptr
shared_ptr< const PlaneCoefficientComparator< PointT, PointNT > > ConstPtr
PlaneRefinementComparator is a Comparator that operates on plane coefficients, for use in planar segm...
shared_ptr< PlaneRefinementComparator< PointT, PointNT, PointLT > > Ptr
shared_ptr< const PlaneRefinementComparator< PointT, PointNT, PointLT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition: angles.hpp:67
Defines all the PCL and non-PCL macros used.