PointCloudPlaneFittingAlgorithm Class Reference

#include <RGBD/Include/ImFusion/RGBD/PointCloudPlaneFittingAlgorithm.h>

Provides plane fitting and distance computation for point clouds. More...

Inheritance diagram for PointCloudPlaneFittingAlgorithm:

Detailed Description

Provides plane fitting and distance computation for point clouds.

This class fits a plane to a given point cloud and computes the point-wise distances from each point to the fitted plane. The algorithm supports both signed and unsigned distance computation and exposes parameters for inlier thresholding.

Typical usage involves constructing the algorithm with a point cloud, configuring parameters, and calling compute() to fit the plane and calculate distances.

const PointCloud* pc; // input point cloud
PointCloudPlaneFittingAlgorithm algo(pc);
algo.setSignedDistance(true);
algo.compute();
auto plane = algo.fittedPlane();
const auto& distances = algo.distances();

Note

• The input point cloud must be valid and non-empty.
• The fitted plane is available after compute() is called.
• All methods are not thread-safe unless otherwise stated.

See also

PointCloud, Geometry::Plane

Public Member Functions
	PointCloudPlaneFittingAlgorithm (const PointCloud *pointcloud)
	Constructs the algorithm for the given point cloud.
virtual	~PointCloudPlaneFittingAlgorithm ()
	Destroys the algorithm and releases resources.
const std::vector< double > &	distances () const
	Returns the computed point-wise distances to the fitted plane.
std::optional< Geometry::Plane >	fittedPlane () const
	Returns the fitted plane, if available.
const PointCloud *	pointCloud () const
	Returns the input point cloud.
void	setSignedDistance (bool signedDistance)
	Enables or disables signed distance computation.
bool	signedDistance () const
	Returns true if signed distance computation is enabled.
OwningDataList	takeOutput () override
	Returns the output data list and transfers ownership.
void	compute () override
	Runs the plane fitting and distance computation.
void	configure (const Properties *p) override
	Configures the algorithm from a Properties object.
void	configuration (Properties *p) const override
	Writes the current configuration to a Properties object.
Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.
Progress *	progress () const
	Returns the progress interface if set.
virtual int	status () const
	Indicates the status of the last call to compute().
virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.
const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
Status	runAction (const std::string &id)
	Run the action with name id if it exists.
const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory method for compatibility checking and creation.
Static Public Member Functions inherited from Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Protected Attributes
const PointCloud *	m_pc = nullptr
	Input point cloud.
bool	m_signedDistance = false
	Enable signed distance computation.
double	m_inlierThreshold = 2.0
	Inlier threshold for plane fitting.
std::vector< double >	m_distances
	Computed distances to the plane.
std::optional< Geometry::Plane >	m_plane = std::nullopt
	Fitted plane.
Protected Attributes inherited from Algorithm
std::string	m_name
	Algorithm name.
Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.
FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.
int	m_status = Status::Unknown
	Algorithm status after last call to compute()
std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Additional Inherited Members
Public Types inherited from Algorithm
enum	Status {   Unknown = -1 , Success = 0 , Error = 1 , InvalidInput ,   IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU ,   UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...
Public Attributes inherited from Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.
Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Member Functions inherited from Algorithm
void	loadDefaults ()
void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.
template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.
void	registerAction (const Action &action)
	Register an action.

Constructor & Destructor Documentation

PointCloudPlaneFittingAlgorithm()

PointCloudPlaneFittingAlgorithm

(

const PointCloud *

pointcloud

)

Constructs the algorithm for the given point cloud.

Parameters

pointcloud

Pointer to the input point cloud.

Member Function Documentation

setSignedDistance()

void setSignedDistance ( bool signedDistance )

inline

Enables or disables signed distance computation.

Signed distances indicate whether points are 'above' or 'below' the plane considering the plane normal direction.

takeOutput()

OwningDataList takeOutput ( )

overridevirtual

Returns the output data list and transfers ownership.

Reimplemented from Algorithm.

compute()

void compute ( )

overridevirtual

Runs the plane fitting and distance computation.

Implements Algorithm.

configure()

void configure ( const Properties * p )

overridevirtual

Configures the algorithm from a Properties object.

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Writes the current configuration to a Properties object.

Reimplemented from Configurable.

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

• RGBD/Include/ImFusion/RGBD/PointCloudPlaneFittingAlgorithm.h