noether::RansacPlaneProjectionMeshModifier Class Reference

MeshModifier that fits planes to the input mesh and projects the vertices onto the fitted planes.

#include <ransac_plane_fit_modifier.h>

Inheritance diagram for noether::RansacPlaneProjectionMeshModifier:

Public Member Functions
	RansacPrimitiveFitMeshModifier (float distance_threshold, unsigned min_vertices=1, int max_primitives=-1, unsigned max_iterations=100)
	Constructor.
	RansacPrimitiveFitMeshModifier ()=default
Public Member Functions inherited from noether::RansacPrimitiveFitMeshModifier
	RansacPrimitiveFitMeshModifier (float distance_threshold, unsigned min_vertices=1, int max_primitives=-1, unsigned max_iterations=100)
	Constructor.
std::vector< pcl::PolygonMesh >	modify (const pcl::PolygonMesh &mesh) const override

Protected Member Functions
std::shared_ptr< pcl::SampleConsensusModel< pcl::PointXYZ > >	createModel (const pcl::PolygonMesh &) const override
	Creates a SAC plane model.
pcl::PolygonMesh	createSubMesh (const pcl::PolygonMesh &mesh, std::shared_ptr< const pcl::RandomSampleConsensus< pcl::PointXYZ > > ransac) const override
	Creates a sub-mesh by projecting the inlier vertices/triangles onto the fitted plane.

Additional Inherited Members
Public Types inherited from noether::MeshModifier
using	Ptr = std::unique_ptr< MeshModifier >
using	ConstPtr = std::unique_ptr< const MeshModifier >
Protected Attributes inherited from noether::RansacPrimitiveFitMeshModifier
float	distance_threshold_
unsigned	min_vertices_
int	max_primitives_
unsigned	max_iterations_

Member Function Documentation

createModel()

std::shared_ptr< pcl::SampleConsensusModel< pcl::PointXYZ > > noether::RansacPlaneProjectionMeshModifier::createModel ( const pcl::PolygonMesh &  mesh ) const

overrideprotectedvirtual

Implements noether::RansacPrimitiveFitMeshModifier.

createSubMesh()

pcl::PolygonMesh noether::RansacPlaneProjectionMeshModifier::createSubMesh ( const pcl::PolygonMesh &  mesh, std::shared_ptr< const pcl::RandomSampleConsensus< pcl::PointXYZ > >  ransac  ) const

overrideprotectedvirtual

Implements noether::RansacPrimitiveFitMeshModifier.

RansacPrimitiveFitMeshModifier()

noether::RansacPrimitiveFitMeshModifier::RansacPrimitiveFitMeshModifier	(	float	distance_threshold,
		unsigned	min_vertices = 1,
		int	max_primitives = -1,
		unsigned	max_iterations = 100
	)

Parameters

distance_threshold	Maximum distance (m) a point can be from the primitive model to be considered an inlier
min_vertices	Minimum number of vertices that a cluster (identfied as a primitive) must have
max_primitives	Maximum number of primitives to detect
max_iterations	Maximum number of RANSAC iterations to perform