Point Cloud Library (PCL)  1.8.0
sac_model_perpendicular_plane.h
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
42 #define PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
43 
44 #include <pcl/sample_consensus/sac_model_plane.h>
45 #include <pcl/common/common.h>
46 
47 namespace pcl
48 {
49  /** \brief SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional
50  * angular constraints. The plane must be perpendicular to an user-specified axis (\ref setAxis), up to an user-specified angle threshold (\ref setEpsAngle).
51  * The model coefficients are defined as:
52  * - \b a : the X coordinate of the plane's normal (normalized)
53  * - \b b : the Y coordinate of the plane's normal (normalized)
54  * - \b c : the Z coordinate of the plane's normal (normalized)
55  * - \b d : the fourth <a href="http://mathworld.wolfram.com/HessianNormalForm.html">Hessian component</a> of the plane's equation
56  *
57  *
58  * Code example for a plane model, perpendicular (within a 15 degrees tolerance) with the Z axis:
59  * \code
60  * SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud);
61  * model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
62  * model.setEpsAngle (pcl::deg2rad (15));
63  * \endcode
64  *
65  * \note Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!
66  *
67  * \author Radu B. Rusu
68  * \ingroup sample_consensus
69  */
70  template <typename PointT>
72  {
73  public:
75 
79 
80  typedef boost::shared_ptr<SampleConsensusModelPerpendicularPlane> Ptr;
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  */
86  SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud,
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  */
102  SampleConsensusModelPerpendicularPlane (const PointCloudConstPtr &cloud,
103  const std::vector<int> &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 () { 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 () { 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  std::vector<int> &inliers);
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  virtual int
155  countWithinDistance (const Eigen::VectorXf &model_coefficients,
156  const double threshold);
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);
165 
166  /** \brief Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE). */
167  inline pcl::SacModel
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  virtual bool
178  isModelValid (const Eigen::VectorXf &model_coefficients);
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
191 
192 #endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PERPENDICULARPLANE_H_
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a plane perpendicular to.
SampleConsensusModelPlane< PointT >::PointCloud PointCloud
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
Select all the points which respect the given model coefficients as inliers.
SampleConsensusModelPlane< PointT >::PointCloudPtr PointCloudPtr
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:575
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
virtual bool isModelValid(const Eigen::VectorXf &model_coefficients)
Check whether a model is valid given the user constraints.
Definition: bfgs.h:10
Eigen::Vector3f getAxis()
Get the axis along which we need to search for a plane perpendicular to.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
Compute all distances from the cloud data to a given plane model.
SampleConsensusModel represents the base model class.
Definition: sac_model.h:66
std::string model_name_
The model name.
Definition: sac_model.h:534
SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
double getEpsAngle()
Get the angle epsilon (delta) threshold.
double eps_angle_
The maximum allowed difference between the plane normal and the given axis.
boost::shared_ptr< SampleConsensusModelPerpendicularPlane > Ptr
pcl::SacModel getModelType() const
Return an unique id for this model (SACMODEL_PERPENDICULAR_PLANE).
PointCloud represents the base class in PCL for storing collections of 3D points. ...
SacModel
Definition: model_types.h:48
Eigen::Vector3f axis_
The axis along which we need to search for a plane perpendicular to.
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
virtual int countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold)
Count all the points which respect the given model coefficients as inliers.
A point structure representing Euclidean xyz coordinates, and the RGB color.
SampleConsensusModelPlane defines a model for 3D plane segmentation.
SampleConsensusModelPerpendicularPlane(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelPerpendicularPlane.
SampleConsensusModelPlane< PointT >::PointCloudConstPtr PointCloudConstPtr
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:572
SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional ang...