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<!-- Local TOC -->
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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">Plane model segmentation</a></li>
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<li><a class="reference internal" href="#the-code">The code</a></li>
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<li><a class="reference internal" href="#the-explanation">The explanation</a></li>
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<li><a class="reference internal" href="#compiling-and-running-the-program">Compiling and running the program</a></li>
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<li>Plane model segmentation</li>
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<div class="section" id="plane-model-segmentation">
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<span id="planar-segmentation"></span><h1>Plane model segmentation</h1>
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<p>In this tutorial we will learn how to do a simple plane segmentation of a set of
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points, that is to find all the points within a point cloud that support a plane
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model. This tutorial supports the <a class="reference internal" href="extract_indices.html#extract-indices"><span class="std std-ref">Extracting indices from a PointCloud</span></a> tutorial, presented in
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the <strong>filtering</strong> section.</p>
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<iframe title="Planar model segmentation" width="480" height="390" src="https://www.youtube.com/embed/ZTK7NR1Xx4c?rel=0" frameborder="0" allowfullscreen></iframe></div>
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<div class="section" id="the-code">
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<h1>The code</h1>
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<p>First, create a file, let’s say, <code class="docutils literal notranslate"><span class="pre">planar_segmentation.cpp</span></code> in your favorite
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editor, and place the following inside it:</p>
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70</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><iostream></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/ModelCoefficients.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/io/pcd_io.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/point_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/sample_consensus/method_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/sample_consensus/model_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/segmentation/sac_segmentation.h></span><span class="cp"></span>
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<span class="kt">int</span>
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<span class="nf">main</span> <span class="p">()</span>
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<span class="p">{</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud</span><span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
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<span class="c1">// Fill in the cloud data</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">=</span> <span class="mi">15</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">points</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-></span><span class="n">height</span><span class="p">);</span>
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<span class="c1">// Generate the data</span>
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<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
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<span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
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<span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">;</span>
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<span class="p">}</span>
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<span class="c1">// Set a few outliers</span>
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<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="mi">0</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="mf">2.0</span><span class="p">;</span>
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<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="mi">3</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="o">-</span><span class="mf">2.0</span><span class="p">;</span>
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<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="mi">6</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="mf">4.0</span><span class="p">;</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Point cloud data: "</span> <span class="o"><<</span> <span class="n">cloud</span><span class="o">-></span><span class="n">size</span> <span class="p">()</span> <span class="o"><<</span> <span class="s">" points"</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
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<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
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<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">ModelCoefficients</span><span class="o">::</span><span class="n">Ptr</span> <span class="n">coefficients</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ModelCoefficients</span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointIndices</span><span class="o">::</span><span class="n">Ptr</span> <span class="n">inliers</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointIndices</span><span class="p">);</span>
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<span class="c1">// Create the segmentation object</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">SACSegmentation</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="n">seg</span><span class="p">;</span>
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<span class="c1">// Optional</span>
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<span class="n">seg</span><span class="p">.</span><span class="n">setOptimizeCoefficients</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
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<span class="c1">// Mandatory</span>
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<span class="n">seg</span><span class="p">.</span><span class="n">setModelType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SACMODEL_PLANE</span><span class="p">);</span>
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<span class="n">seg</span><span class="p">.</span><span class="n">setMethodType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SAC_RANSAC</span><span class="p">);</span>
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<span class="n">seg</span><span class="p">.</span><span class="n">setDistanceThreshold</span> <span class="p">(</span><span class="mf">0.01</span><span class="p">);</span>
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<span class="n">seg</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
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<span class="n">seg</span><span class="p">.</span><span class="n">segment</span> <span class="p">(</span><span class="o">*</span><span class="n">inliers</span><span class="p">,</span> <span class="o">*</span><span class="n">coefficients</span><span class="p">);</span>
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<span class="k">if</span> <span class="p">(</span><span class="n">inliers</span><span class="o">-></span><span class="n">indices</span><span class="p">.</span><span class="n">size</span> <span class="p">()</span> <span class="o">==</span> <span class="mi">0</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="n">PCL_ERROR</span> <span class="p">(</span><span class="s">"Could not estimate a planar model for the given dataset.</span><span class="se">\n</span><span class="s">"</span><span class="p">);</span>
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||
<span class="k">return</span> <span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">);</span>
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<span class="p">}</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Model coefficients: "</span> <span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o"><<</span> <span class="s">" "</span>
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<span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o"><<</span> <span class="s">" "</span>
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||
<span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Model inliers: "</span> <span class="o"><<</span> <span class="n">inliers</span><span class="o">-></span><span class="n">indices</span><span class="p">.</span><span class="n">size</span> <span class="p">()</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">idx</span><span class="p">:</span> <span class="n">inliers</span><span class="o">-></span><span class="n">indices</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="n">idx</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">cloud</span><span class="o">-></span><span class="n">points</span><span class="p">[</span><span class="n">idx</span><span class="p">].</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">cloud</span><span class="o">-></span><span class="n">points</span><span class="p">[</span><span class="n">idx</span><span class="p">].</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">cloud</span><span class="o">-></span><span class="n">points</span><span class="p">[</span><span class="n">idx</span><span class="p">].</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
|
||
<span class="k">return</span> <span class="p">(</span><span class="mi">0</span><span class="p">);</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
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</td></tr></table></div>
|
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</div>
|
||
<div class="section" id="the-explanation">
|
||
<h1>The explanation</h1>
|
||
<p>Now, let’s break down the code piece by piece.</p>
|
||
<p>Lines:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><pcl/sample_consensus/method_types.h></span><span class="cp"></span>
|
||
<span class="cp">#include</span> <span class="cpf"><pcl/sample_consensus/model_types.h></span><span class="cp"></span>
|
||
<span class="cp">#include</span> <span class="cpf"><pcl/segmentation/sac_segmentation.h></span><span class="cp"></span>
|
||
</pre></div>
|
||
</div>
|
||
<div class="admonition important">
|
||
<p class="first admonition-title">Important</p>
|
||
<p class="last">Please visit <a class="reference external" href="https://pointclouds.org/documentation/group__sample__consensus.html">https://pointclouds.org/documentation/group__sample__consensus.html</a>
|
||
for more information on various other implemented Sample Consensus models and
|
||
robust estimators.</p>
|
||
</div>
|
||
<p>Lines:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="c1">// Fill in the cloud data</span>
|
||
<span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">=</span> <span class="mi">15</span><span class="p">;</span>
|
||
<span class="n">cloud</span><span class="o">-></span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
|
||
<span class="n">cloud</span><span class="o">-></span><span class="n">points</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-></span><span class="n">height</span><span class="p">);</span>
|
||
|
||
<span class="c1">// Generate the data</span>
|
||
<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
|
||
<span class="p">{</span>
|
||
<span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
|
||
<span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
|
||
<span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">=</span> <span class="mf">1.0</span><span class="p">;</span>
|
||
<span class="p">}</span>
|
||
|
||
<span class="c1">// Set a few outliers</span>
|
||
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="mi">0</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="mf">2.0</span><span class="p">;</span>
|
||
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="mi">3</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="o">-</span><span class="mf">2.0</span><span class="p">;</span>
|
||
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="mi">6</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="mf">4.0</span><span class="p">;</span>
|
||
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Point cloud data: "</span> <span class="o"><<</span> <span class="n">cloud</span><span class="o">-></span><span class="n">size</span> <span class="p">()</span> <span class="o"><<</span> <span class="s">" points"</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>create the point cloud structure, fill in the respective values, and display
|
||
the content on screen. Note that for the purpose of this tutorial, we manually
|
||
added a few outliers in the data, by setting their z values different from 0.</p>
|
||
<p>Then, lines:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">pcl</span><span class="o">::</span><span class="n">ModelCoefficients</span><span class="o">::</span><span class="n">Ptr</span> <span class="n">coefficients</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ModelCoefficients</span><span class="p">);</span>
|
||
<span class="n">pcl</span><span class="o">::</span><span class="n">PointIndices</span><span class="o">::</span><span class="n">Ptr</span> <span class="n">inliers</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointIndices</span><span class="p">);</span>
|
||
<span class="c1">// Create the segmentation object</span>
|
||
<span class="n">pcl</span><span class="o">::</span><span class="n">SACSegmentation</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="n">seg</span><span class="p">;</span>
|
||
<span class="c1">// Optional</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setOptimizeCoefficients</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
|
||
<span class="c1">// Mandatory</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setModelType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SACMODEL_PLANE</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setMethodType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SAC_RANSAC</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setDistanceThreshold</span> <span class="p">(</span><span class="mf">0.01</span><span class="p">);</span>
|
||
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">segment</span> <span class="p">(</span><span class="o">*</span><span class="n">inliers</span><span class="p">,</span> <span class="o">*</span><span class="n">coefficients</span><span class="p">);</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>create the <span>SACSegmentation</span> object and set the model and method type.
|
||
This is also where we specify the “distance threshold”, which determines how close a point must be to the model in order to be considered an inlier.
|
||
In this tutorial, we will use the RANSAC method (pcl::SAC_RANSAC) as the robust estimator of choice.
|
||
Our decision is motivated by RANSAC’s simplicity (other robust estimators use it as
|
||
a base and add additional, more complicated concepts). For more information
|
||
about RANSAC, check its <a class="reference external" href="http://en.wikipedia.org/wiki/RANSAC">Wikipedia page</a>.</p>
|
||
<p>Finally:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Model coefficients: "</span> <span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">0</span><span class="p">]</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">1</span><span class="p">]</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">2</span><span class="p">]</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">coefficients</span><span class="o">-></span><span class="n">values</span><span class="p">[</span><span class="mi">3</span><span class="p">]</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>are used to show the contents of the inlier set, together with the estimated
|
||
plane parameters (in <img class="math" src="_images/math/614350d50335367e9fa70c3cb062ffe15e067e4c.png" alt="ax + by + cz + d = 0"/> form).</p>
|
||
</div>
|
||
<div class="section" id="compiling-and-running-the-program">
|
||
<h1>Compiling and running the program</h1>
|
||
<p>Add the following lines to your CMakeLists.txt file:</p>
|
||
<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
6
|
||
7
|
||
8
|
||
9
|
||
10
|
||
11
|
||
12</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
|
||
|
||
<span class="nb">project</span><span class="p">(</span><span class="s">planar_segmentation</span><span class="p">)</span>
|
||
|
||
<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.2</span> <span class="s">REQUIRED</span><span class="p">)</span>
|
||
|
||
<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
|
||
<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
|
||
<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
|
||
|
||
<span class="nb">add_executable</span> <span class="p">(</span><span class="s">planar_segmentation</span> <span class="s">planar_segmentation.cpp</span><span class="p">)</span>
|
||
<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">planar_segmentation</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
|
||
</pre></div>
|
||
</td></tr></table></div>
|
||
<p>After you have made the executable, you can run it. Simply do:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./planar_segmentation
|
||
</pre></div>
|
||
</div>
|
||
<p>You will see something similar to:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Point</span> <span class="n">cloud</span> <span class="n">data</span><span class="p">:</span> <span class="mi">15</span> <span class="n">points</span>
|
||
<span class="mf">0.352222</span> <span class="o">-</span><span class="mf">0.151883</span> <span class="mi">2</span>
|
||
<span class="o">-</span><span class="mf">0.106395</span> <span class="o">-</span><span class="mf">0.397406</span> <span class="mi">1</span>
|
||
<span class="o">-</span><span class="mf">0.473106</span> <span class="mf">0.292602</span> <span class="mi">1</span>
|
||
<span class="o">-</span><span class="mf">0.731898</span> <span class="mf">0.667105</span> <span class="o">-</span><span class="mi">2</span>
|
||
<span class="mf">0.441304</span> <span class="o">-</span><span class="mf">0.734766</span> <span class="mi">1</span>
|
||
<span class="mf">0.854581</span> <span class="o">-</span><span class="mf">0.0361733</span> <span class="mi">1</span>
|
||
<span class="o">-</span><span class="mf">0.4607</span> <span class="o">-</span><span class="mf">0.277468</span> <span class="mi">4</span>
|
||
<span class="o">-</span><span class="mf">0.916762</span> <span class="mf">0.183749</span> <span class="mi">1</span>
|
||
<span class="mf">0.968809</span> <span class="mf">0.512055</span> <span class="mi">1</span>
|
||
<span class="o">-</span><span class="mf">0.998983</span> <span class="o">-</span><span class="mf">0.463871</span> <span class="mi">1</span>
|
||
<span class="mf">0.691785</span> <span class="mf">0.716053</span> <span class="mi">1</span>
|
||
<span class="mf">0.525135</span> <span class="o">-</span><span class="mf">0.523004</span> <span class="mi">1</span>
|
||
<span class="mf">0.439387</span> <span class="mf">0.56706</span> <span class="mi">1</span>
|
||
<span class="mf">0.905417</span> <span class="o">-</span><span class="mf">0.579787</span> <span class="mi">1</span>
|
||
<span class="mf">0.898706</span> <span class="o">-</span><span class="mf">0.504929</span> <span class="mi">1</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentation</span><span class="p">::</span><span class="n">initSAC</span><span class="p">]</span> <span class="n">Setting</span> <span class="n">the</span> <span class="n">maximum</span> <span class="n">number</span> <span class="n">of</span> <span class="n">iterations</span> <span class="n">to</span> <span class="mi">50</span>
|
||
<span class="n">Model</span> <span class="n">coefficients</span><span class="p">:</span> <span class="mi">0</span> <span class="mi">0</span> <span class="mi">1</span> <span class="o">-</span><span class="mi">1</span>
|
||
<span class="n">Model</span> <span class="n">inliers</span><span class="p">:</span> <span class="mi">12</span>
|
||
<span class="mi">1</span> <span class="o">-</span><span class="mf">0.106395</span> <span class="o">-</span><span class="mf">0.397406</span> <span class="mi">1</span>
|
||
<span class="mi">2</span> <span class="o">-</span><span class="mf">0.473106</span> <span class="mf">0.292602</span> <span class="mi">1</span>
|
||
<span class="mi">4</span> <span class="mf">0.441304</span> <span class="o">-</span><span class="mf">0.734766</span> <span class="mi">1</span>
|
||
<span class="mi">5</span> <span class="mf">0.854581</span> <span class="o">-</span><span class="mf">0.0361733</span> <span class="mi">1</span>
|
||
<span class="mi">7</span> <span class="o">-</span><span class="mf">0.916762</span> <span class="mf">0.183749</span> <span class="mi">1</span>
|
||
<span class="mi">8</span> <span class="mf">0.968809</span> <span class="mf">0.512055</span> <span class="mi">1</span>
|
||
<span class="mi">9</span> <span class="o">-</span><span class="mf">0.998983</span> <span class="o">-</span><span class="mf">0.463871</span> <span class="mi">1</span>
|
||
<span class="mi">10</span> <span class="mf">0.691785</span> <span class="mf">0.716053</span> <span class="mi">1</span>
|
||
<span class="mi">11</span> <span class="mf">0.525135</span> <span class="o">-</span><span class="mf">0.523004</span> <span class="mi">1</span>
|
||
<span class="mi">12</span> <span class="mf">0.439387</span> <span class="mf">0.56706</span> <span class="mi">1</span>
|
||
<span class="mi">13</span> <span class="mf">0.905417</span> <span class="o">-</span><span class="mf">0.579787</span> <span class="mi">1</span>
|
||
<span class="mi">14</span> <span class="mf">0.898706</span> <span class="o">-</span><span class="mf">0.504929</span> <span class="mi">1</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>A graphical display of the segmentation process is shown below.</p>
|
||
<img alt="_images/planar_segmentation_2.png" src="_images/planar_segmentation_2.png" />
|
||
<p>Note that the coordinate axes are represented as red (x), green (y), and blue
|
||
(z). The points are represented with red as the outliers, and green as the
|
||
inliers of the plane model found.</p>
|
||
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|
||
|
||
|
||
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|
||
|
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|
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