pcl::SampleConsensusModelNormalPlane< PointT, PointNT > Class Template Reference
Module sample_consensus

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 >:

## Public Types

typedef SampleConsensusModel< PointT >::PointCloud | PointCloud
typedef SampleConsensusModel< PointT >::PointCloudPtr | PointCloudPtr
typedef SampleConsensusModel< PointT >::PointCloudConstPtr | PointCloudConstPtr
typedef SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr | PointCloudNPtr
typedef SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr | PointCloudNConstPtr
typedef boost::shared_ptr< SampleConsensusModelNormalPlane > | Ptr
Public Types inherited from pcl::SampleConsensusModelPlane< PointT >
typedef SampleConsensusModel< PointT >::PointCloud | PointCloud
typedef SampleConsensusModel< PointT >::PointCloudPtr | PointCloudPtr
typedef SampleConsensusModel< PointT >::PointCloudConstPtr | PointCloudConstPtr
typedef boost::shared_ptr< SampleConsensusModelPlane > | Ptr
Public Types inherited from pcl::SampleConsensusModel< PointT >
typedef pcl::PointCloud< PointT > | PointCloud
typedef pcl::PointCloud< PointT >::ConstPtr | PointCloudConstPtr
typedef pcl::PointCloud< PointT >::Ptr | PointCloudPtr
typedef pcl::search::Search< PointT >::Ptr | SearchPtr
typedef boost::shared_ptr< SampleConsensusModel > | Ptr
typedef boost::shared_ptr< const SampleConsensusModel > | ConstPtr
Public Types inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
typedef pcl::PointCloud< PointNT >::ConstPtr | PointCloudNConstPtr
typedef pcl::PointCloud< PointNT >::Ptr | PointCloudNPtr
typedef boost::shared_ptr< SampleConsensusModelFromNormals > | Ptr
typedef boost::shared_ptr< const SampleConsensusModelFromNormals > | ConstPtr

## Public Member Functions

| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, bool random=false)
| Constructor for base SampleConsensusModelNormalPlane. More...
| SampleConsensusModelNormalPlane (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
| Constructor for base SampleConsensusModelNormalPlane. More...
virtual | ~SampleConsensusModelNormalPlane ()
| Empty destructor. More...
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. More...
virtual int | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
| Count all the points which respect the given model coefficients as inliers. More...
void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
| Compute all distances from the cloud data to a given plane model. More...
pcl::SacModel | getModelType () const
| Return an 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 std::vector< int > &indices, bool random=false)
| Constructor for base SampleConsensusModelPlane. More...
virtual | ~SampleConsensusModelPlane ()
| Empty destructor. More...
bool | computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)
| 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)
| Compute all distances from the cloud data to a given plane model. More...
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. More...
void | optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
| Recompute the plane coefficients using the given inlier set and return them to the user. More...
void | projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true)
| Create a new point cloud with inliers projected onto the plane model. More...
bool | doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold)
| Verify whether a subset of indices verifies the given plane model coefficients. More...
pcl::SacModel | getModelType () const
| Return an 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 std::vector< int > &indices, bool random=false)
| Constructor for base SampleConsensusModel. More...
virtual | ~SampleConsensusModel ()
| Destructor for base SampleConsensusModel. More...
virtual void | getSamples (int &iterations, std::vector< int > &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 boost::shared_ptr< std::vector< int > > &indices)
| Provide a pointer to the vector of indices that represents the input data. More...
void | setIndices (const std::vector< int > &indices)
| Provide the vector of indices that represents the input data. More...
boost::shared_ptr< std::vector< int > > | getIndices () const
| Get a pointer to the vector of indices used. More...
unsigned int | getSampleSize () const
| Return the size of a sample from which a model is computed. 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)
| Get the minimum and maximum allowable radius limits for the model as set by the user. More...
void | setSamplesMaxDist (const double &radius, SearchPtr search)
| Set the maximum distance allowed when drawing random samples. More...
void | getSamplesMaxDist (double &radius)
| Get maximum distance allowed when drawing random samples. More...
double | computeVariance (const std::vector< double > &error_sqr_dists)
| Compute the variance of the errors to the model. More...
double | computeVariance ()
| 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 ()
| Destructor. More...
void | setNormalDistanceWeight (const double w)
| Set the normal angular distance weight. More...
double | getNormalDistanceWeight ()
| 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 ()
| Get a pointer to the normals of the input XYZ point cloud dataset. More...

## Additional Inherited Members

Protected Member Functions inherited from pcl::SampleConsensusModelPlane< PointT >
bool | isModelValid (const Eigen::VectorXf &model_coefficients)
| Check whether a model is valid given the user constraints. More...
Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
| SampleConsensusModel (bool random=false)
| Empty constructor for base SampleConsensusModel. More...
void | drawIndexSample (std::vector< int > &sample)
| Fills a sample array with random samples from the indices_ vector. More...
void | drawIndexSampleRadius (std::vector< int > &sample)
| Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More...
int | rnd ()
| Boost-based random number generator. More...
Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
PointCloudConstPtr | input_
| A boost shared pointer to the point cloud data array. More...
boost::shared_ptr< std::vector< int > > | 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...
std::vector< int > | shuffled_indices_
| Data containing a shuffled version of the indices. More...
boost::mt19937 | rng_alg_
| Boost-based random number generator algorithm. More...
boost::shared_ptr< boost::uniform_int<> > | rng_dist_
| Boost-based random number generator distribution. More...
boost::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...
Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
double | normal_distance_weight_
| 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

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloud

Definition at line 86 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudConstPtr

Definition at line 88 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNConstPtr

Definition at line 91 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudNPtr

Definition at line 90 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::PointCloudPtr

Definition at line 87 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<SampleConsensusModelNormalPlane> pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::Ptr

Definition at line 93 of file sac_model_normal_plane.h.

## Constructor & Destructor Documentation

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 99 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::SampleConsensusModelNormalPlane | ( | const PointCloudConstPtr & | cloud,
|  | const std::vector< int > & | 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 111 of file sac_model_normal_plane.h.

template<typename PointT, typename PointNT>

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

inline virtual

Empty destructor.

Definition at line 120 of file sac_model_normal_plane.h.

References pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::getDistancesToModel(), and pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::selectWithinDistance().

## Member Function Documentation

template<typename PointT , typename PointNT >

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

virtual

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

Reimplemented from pcl::SampleConsensusModelPlane< PointT >.

Definition at line 106 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::~SampleConsensusModelNormalPlane().

template<typename PointT , typename PointNT >

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

virtual

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 151 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::~SampleConsensusModelNormalPlane().

template<typename PointT, typename PointNT>

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

inline virtual

Return an unique id for this model (SACMODEL_NORMAL_PLANE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 152 of file sac_model_normal_plane.h.

References pcl::SACMODEL_NORMAL_PLANE.

template<typename PointT , typename PointNT >

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

virtual

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 48 of file sac_model_normal_plane.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::~SampleConsensusModelNormalPlane().

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

- /build/pcl-6_P28C/pcl-1.7.2/sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h
- /build/pcl-6_P28C/pcl-1.7.2/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_plane.hpp