Point Cloud Library (PCL)  1.11.1-dev
sac_model_parallel_plane.h
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40 
41 #pragma once
42 
43 #include <pcl/sample_consensus/sac_model_plane.h>
44 
45 namespace pcl
46 {
47  /** \brief @b SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional
48  * angular constraints. The plane must be parallel to a user-specified axis
49  * (\ref setAxis) within a user-specified angle threshold (\ref setEpsAngle).
50  * In other words, the plane <b>normal</b> must be (nearly) <b>perpendicular</b> to the specified axis.
51  *
52  * Code example for a plane model, parallel (within a 15 degrees tolerance) with the Z axis:
53  * \code
54  * SampleConsensusModelParallelPlane<pcl::PointXYZ> model (cloud);
55  * model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
56  * model.setEpsAngle (pcl::deg2rad (15));
57  * \endcode
58  *
59  * \note Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!
60  *
61  * \author Radu B. Rusu, Nico Blodow
62  * \ingroup sample_consensus
63  */
64  template <typename PointT>
66  {
67  public:
69 
73 
74  using Ptr = shared_ptr<SampleConsensusModelParallelPlane<PointT> >;
75  using ConstPtr = shared_ptr<const SampleConsensusModelParallelPlane<PointT>>;
76 
77  /** \brief Constructor for base SampleConsensusModelParallelPlane.
78  * \param[in] cloud the input point cloud dataset
79  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
80  */
82  bool random = false)
83  : SampleConsensusModelPlane<PointT> (cloud, random)
84  , axis_ (Eigen::Vector3f::Zero ())
85  , eps_angle_ (0.0)
86  , sin_angle_ (-1.0)
87  {
88  model_name_ = "SampleConsensusModelParallelPlane";
89  sample_size_ = 3;
90  model_size_ = 4;
91  }
92 
93  /** \brief Constructor for base SampleConsensusModelParallelPlane.
94  * \param[in] cloud the input point cloud dataset
95  * \param[in] indices a vector of point indices to be used from \a cloud
96  * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
97  */
99  const Indices &indices,
100  bool random = false)
101  : SampleConsensusModelPlane<PointT> (cloud, indices, random)
102  , axis_ (Eigen::Vector3f::Zero ())
103  , eps_angle_ (0.0)
104  , sin_angle_ (-1.0)
105  {
106  model_name_ = "SampleConsensusModelParallelPlane";
107  sample_size_ = 3;
108  model_size_ = 4;
109  }
110 
111  /** \brief Empty destructor */
113 
114  /** \brief Set the axis along which we need to search for a plane perpendicular to.
115  * \param[in] ax the axis along which we need to search for a plane perpendicular to
116  */
117  inline void
118  setAxis (const Eigen::Vector3f &ax) { axis_ = ax; }
119 
120  /** \brief Get the axis along which we need to search for a plane perpendicular to. */
121  inline Eigen::Vector3f
122  getAxis () const { return (axis_); }
123 
124  /** \brief Set the angle epsilon (delta) threshold.
125  * \param[in] ea the maximum allowed difference between the plane normal and the given axis.
126  * \note You need to specify an angle > 0 in order to activate the axis-angle constraint!
127  */
128  inline void
129  setEpsAngle (const double ea) { eps_angle_ = ea; sin_angle_ = std::abs (sin (ea));}
130 
131  /** \brief Get the angle epsilon (delta) threshold. */
132  inline double
133  getEpsAngle () const { return (eps_angle_); }
134 
135  /** \brief Select all the points which respect the given model coefficients as inliers.
136  * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
137  * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
138  * \param[out] inliers the resultant model inliers
139  */
140  void
141  selectWithinDistance (const Eigen::VectorXf &model_coefficients,
142  const double threshold,
143  Indices &inliers) override;
144 
145  /** \brief Count all the points which respect the given model coefficients as inliers.
146  *
147  * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
148  * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
149  * \return the resultant number of inliers
150  */
151  std::size_t
152  countWithinDistance (const Eigen::VectorXf &model_coefficients,
153  const double threshold) const override;
154 
155  /** \brief Compute all distances from the cloud data to a given plane model.
156  * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
157  * \param[out] distances the resultant estimated distances
158  */
159  void
160  getDistancesToModel (const Eigen::VectorXf &model_coefficients,
161  std::vector<double> &distances) const override;
162 
163  /** \brief Return a unique id for this model (SACMODEL_PARALLEL_PLANE). */
164  inline pcl::SacModel
165  getModelType () const override { return (SACMODEL_PARALLEL_PLANE); }
166 
167  protected:
170 
171  /** \brief Check whether a model is valid given the user constraints.
172  * \param[in] model_coefficients the set of model coefficients
173  */
174  bool
175  isModelValid (const Eigen::VectorXf &model_coefficients) const override;
176 
177  /** \brief The axis along which we need to search for a plane perpendicular to. */
178  Eigen::Vector3f axis_;
179 
180  /** \brief The maximum allowed difference between the plane and the given axis. */
181  double eps_angle_;
182 
183  /** \brief The sine of the angle*/
184  double sin_angle_;
185  };
186 }
187 
188 #ifdef PCL_NO_PRECOMPILE
189 #include <pcl/sample_consensus/impl/sac_model_parallel_plane.hpp>
190 #endif
pcl::SampleConsensusModelParallelPlane::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition: sac_model_parallel_plane.hpp:92
pcl
Definition: convolution.h:46
Eigen
Definition: bfgs.h:9
pcl::SampleConsensusModelPlane
SampleConsensusModelPlane defines a model for 3D plane segmentation.
Definition: sac_model_plane.h:135
pcl::SampleConsensusModelParallelPlane::getDistancesToModel
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.
Definition: sac_model_parallel_plane.hpp:77
pcl::SampleConsensusModelParallelPlane::SampleConsensusModelParallelPlane
SampleConsensusModelParallelPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelPlane.
Definition: sac_model_parallel_plane.h:81
pcl::SampleConsensusModel::sample_size_
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:588
pcl::SACMODEL_PARALLEL_PLANE
@ SACMODEL_PARALLEL_PLANE
Definition: model_types.h:62
pcl::SampleConsensusModelParallelPlane::SampleConsensusModelParallelPlane
SampleConsensusModelParallelPlane(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelParallelPlane.
Definition: sac_model_parallel_plane.h:98
pcl::SampleConsensusModel::model_size_
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:591
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:628
pcl::SampleConsensusModelPlane::PointCloudPtr
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
Definition: sac_model_plane.h:145
pcl::SampleConsensusModelParallelPlane::~SampleConsensusModelParallelPlane
~SampleConsensusModelParallelPlane()
Empty destructor.
Definition: sac_model_parallel_plane.h:112
pcl::SampleConsensusModelParallelPlane::setAxis
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
Definition: sac_model_parallel_plane.h:118
pcl::SampleConsensusModelParallelPlane::getAxis
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a plane perpendicular to.
Definition: sac_model_parallel_plane.h:122
pcl::SacModel
SacModel
Definition: model_types.h:45
pcl::SampleConsensusModelParallelPlane::axis_
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
Definition: sac_model_parallel_plane.h:178
pcl::SampleConsensusModel::ConstPtr
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
Definition: sac_model.h:78
pcl::SampleConsensusModel::Ptr
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:77
pcl::SampleConsensusModelParallelPlane::setEpsAngle
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
Definition: sac_model_parallel_plane.h:129
pcl::SampleConsensusModelParallelPlane::countWithinDistance
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.
Definition: sac_model_parallel_plane.hpp:63
pcl::SampleConsensusModel::model_name_
std::string model_name_
The model name.
Definition: sac_model.h:550
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:141
pcl::SampleConsensusModel::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: sac_model.h:73
pcl::SampleConsensusModelParallelPlane::getEpsAngle
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
Definition: sac_model_parallel_plane.h:133
pcl::SampleConsensusModelPlane::PointCloudConstPtr
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
Definition: sac_model_plane.h:146
pcl::SampleConsensusModelPlane::PointCloud
typename SampleConsensusModel< PointT >::PointCloud PointCloud
Definition: sac_model_plane.h:144
pcl::SampleConsensusModelParallelPlane::sin_angle_
double sin_angle_
The sine of the angle.
Definition: sac_model_parallel_plane.h:184
pcl::SampleConsensusModel::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
pcl::SampleConsensusModelParallelPlane::getModelType
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PARALLEL_PLANE).
Definition: sac_model_parallel_plane.h:165
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition: sac_model.h:69
pcl::SampleConsensusModelParallelPlane
SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular ...
Definition: sac_model_parallel_plane.h:65
pcl::SampleConsensusModelParallelPlane::eps_angle_
double eps_angle_
The maximum allowed difference between the plane and the given axis.
Definition: sac_model_parallel_plane.h:181
pcl::SampleConsensusModelParallelPlane::selectWithinDistance
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.
Definition: sac_model_parallel_plane.hpp:48