Mesh modifier that fits a specifiable number of model primitives to the input mesh. More...

Detailed Description

This modifier uses RANSAC to sequentially fit primitive models to the input mesh. When a valid model is identified, the inlier vertices are removed from the input mesh into a new sub-mesh. New primitive models are then fitted to the remainder of vertices in the input mesh until either 1) the maximum number of primitive models have been fitted 2) too few inliers remain in the input mesh, or 3) no more valid primitives can be fit to the input mesh.

#include <ransac_primitive_fit_modifier.h>

Inheritance diagram for noether::RansacPrimitiveFitMeshModifier:

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Public Member Functions
	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
virtual std::shared_ptr< pcl::SampleConsensusModel< pcl::PointXYZ > >	createModel (const pcl::PolygonMesh &mesh) const =0
	Creates a sample consensus model for the primitive.

virtual pcl::PolygonMesh	createSubMesh (const pcl::PolygonMesh &mesh, std::shared_ptr< const pcl::RandomSampleConsensus< pcl::PointXYZ > > ransac) const =0
	Creates a sub-mesh from the results of the model primitive fitting.

Protected Attributes
float	distance_threshold_

unsigned	min_vertices_

int	max_primitives_

unsigned	max_iterations_

Additional Inherited Members
Public Types inherited from noether::MeshModifier
using	Ptr = std::unique_ptr< MeshModifier >

using	ConstPtr = std::unique_ptr< const MeshModifier >

Constructor & Destructor Documentation

◆ 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

Member Function Documentation

◆ modify()

std::vector< pcl::PolygonMesh > noether::RansacPrimitiveFitMeshModifier::modify ( const pcl::PolygonMesh & mesh ) const

overridevirtual

Reimplemented from noether::MeshModifier.

◆ createModel()

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

protectedpure virtual

Implemented in noether::RansacPlaneProjectionMeshModifier, and noether::RansacCylinderProjectionMeshModifier.

◆ createSubMesh()

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

protectedpure virtual

Parameters

mesh	Full input mesh
ransac	RANSAC model after successful completion of the model primitive fit

Returns

Implemented in noether::RansacCylinderProjectionMeshModifier, noether::RansacCylinderFitMeshModifier, and noether::RansacPlaneProjectionMeshModifier.

Detailed Description

Public Member Functions

Protected Member Functions