Point Cloud Library (PCL)  1.11.1-dev
sac_model_perpendicular_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 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. */
184  double eps_angle_;
185  };
186 }
187 
188 #ifdef PCL_NO_PRECOMPILE
189 #include <pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp>
190 #endif
pcl::SampleConsensusModelPerpendicularPlane::axis_
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
Definition: sac_model_perpendicular_plane.h:181
pcl
Definition: convolution.h:46
pcl::SACMODEL_PERPENDICULAR_PLANE
@ SACMODEL_PERPENDICULAR_PLANE
Definition: model_types.h:56
Eigen
Definition: bfgs.h:9
pcl::SampleConsensusModelPerpendicularPlane::getAxis
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a plane perpendicular to.
Definition: sac_model_perpendicular_plane.h:125
pcl::SampleConsensusModelPlane
SampleConsensusModelPlane defines a model for 3D plane segmentation.
Definition: sac_model_plane.h:135
pcl::SampleConsensusModelPerpendicularPlane::setEpsAngle
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
Definition: sac_model_perpendicular_plane.h:132
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::SampleConsensusModelPerpendicularPlane::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_perpendicular_plane.hpp:78
pcl::SampleConsensusModelPerpendicularPlane::eps_angle_
double eps_angle_
The maximum allowed difference between the plane normal and the given axis.
Definition: sac_model_perpendicular_plane.h:184
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::SampleConsensusModelPerpendicularPlane::SampleConsensusModelPerpendicularPlane
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
Definition: sac_model_perpendicular_plane.h:102
pcl::SampleConsensusModelPerpendicularPlane::isModelValid
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
Definition: sac_model_perpendicular_plane.hpp:93
pcl::SampleConsensusModelPerpendicularPlane::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_perpendicular_plane.hpp:49
pcl::SampleConsensusModelPerpendicularPlane::getModelType
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
Definition: sac_model_perpendicular_plane.h:168
pcl::SampleConsensusModelPerpendicularPlane::SampleConsensusModelPerpendicularPlane
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
Definition: sac_model_perpendicular_plane.h:86
pcl::SampleConsensusModelPerpendicularPlane::setAxis
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
Definition: sac_model_perpendicular_plane.h:121
pcl::SacModel
SacModel
Definition: model_types.h:45
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::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::SampleConsensusModelPerpendicularPlane
SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional ang...
Definition: sac_model_perpendicular_plane.h:70
pcl::SampleConsensusModelPerpendicularPlane::getEpsAngle
double getEpsAngle() const
Get the angle epsilon (delta) threshold.
Definition: sac_model_perpendicular_plane.h:136
pcl::SampleConsensusModelPlane::PointCloudConstPtr
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
Definition: sac_model_plane.h:146
pcl::SampleConsensusModelPerpendicularPlane::~SampleConsensusModelPerpendicularPlane
~SampleConsensusModelPerpendicularPlane()
Empty destructor.
Definition: sac_model_perpendicular_plane.h:115
pcl::SampleConsensusModelPlane::PointCloud
typename SampleConsensusModel< PointT >::PointCloud PointCloud
Definition: sac_model_plane.h:144
pcl::SampleConsensusModel::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
pcl::SampleConsensusModel
SampleConsensusModel represents the base model class.
Definition: sac_model.h:69
pcl::SampleConsensusModelPerpendicularPlane::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_perpendicular_plane.hpp:64