\( \newcommand{\E}{\mathrm{E}} \) \( \newcommand{\A}{\mathrm{A}} \) \( \newcommand{\R}{\mathrm{R}} \) \( \newcommand{\N}{\mathrm{N}} \) \( \newcommand{\Q}{\mathrm{Q}} \) \( \newcommand{\Z}{\mathrm{Z}} \) \( \def\ccSum #1#2#3{ \sum_{#1}^{#2}{#3} } \def\ccProd #1#2#3{ \sum_{#1}^{#2}{#3} }\)
CGAL 5.0 - Shape Detection
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CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region< GeomTraits, InputRange, PointMap, NormalMap > Class Template Reference
Shape Detection Reference » Region Growing » Point Set

#include <CGAL/Shape_detection/Region_growing/Region_growing_on_point_set/Least_squares_plane_fit_region.h>

Definition

Region type based on the quality of the least squares plane fit applied to 3D points.

This class fits a plane to chunks of points in a 3D point set and controls the quality of this fit. If all quality conditions are satisfied, the chunk is accepted as a valid region, otherwise rejected.

Template Parameters
GeomTraitsmust be a model of Kernel.
InputRangemust be a model of ConstRange whose iterator type is RandomAccessIterator.
PointMapmust be an LvaluePropertyMap whose key type is the value type of the input range and value type is Kernel::Point_3.
NormalMapmust be an LvaluePropertyMap whose key type is the value type of the input range and value type is Kernel::Vector_3.
Is Model Of:
RegionType
Examples:
Shape_detection/region_growing_on_point_set_3.cpp.

Types

typedef GeomTraits::FT FT
 Number type.
 

Initialization

 Least_squares_plane_fit_region (const InputRange &input_range, const FT distance_threshold=FT(1), const FT angle_threshold=FT(25), const std::size_t min_region_size=3, const PointMap point_map=PointMap(), const NormalMap normal_map=NormalMap(), const GeomTraits traits=GeomTraits())
 initializes all internal data structures. More...
 

Access

bool is_part_of_region (const std::size_t, const std::size_t query_index, const std::vector< std::size_t > &) const
 implements RegionType::is_part_of_region(). More...
 
bool is_valid_region (const std::vector< std::size_t > &region) const
 implements RegionType::is_valid_region(). More...
 
void update (const std::vector< std::size_t > &region)
 implements RegionType::update(). More...
 

Constructor & Destructor Documentation

◆ Least_squares_plane_fit_region()

template<typename GeomTraits , typename InputRange , typename PointMap , typename NormalMap >
CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region< GeomTraits, InputRange, PointMap, NormalMap >::Least_squares_plane_fit_region ( const InputRange &  input_range,
const FT  distance_threshold = FT(1),
const FT  angle_threshold = FT(25),
const std::size_t  min_region_size = 3,
const PointMap  point_map = PointMap(),
const NormalMap  normal_map = NormalMap(),
const GeomTraits  traits = GeomTraits() 
)

initializes all internal data structures.

Parameters
input_rangean instance of InputRange with 3D points and corresponding 3D normal vectors
distance_thresholdthe maximum distance from a point to a plane. Default is 1.
angle_thresholdthe maximum accepted angle in degrees between the normal of a point and the normal of a plane. Default is 25 degrees.
min_region_sizethe minimum number of 3D points a region must have. Default is 3.
point_mapan instance of PointMap that maps an item from input_range to Kernel::Point_3
normal_mapan instance of NormalMap that maps an item from input_range to Kernel::Vector_3
traitsan instance of GeomTraits.
Precondition
input_range.size() > 0
distance_threshold >= 0
angle_threshold >= 0 && angle_threshold <= 90
min_region_size > 0

Member Function Documentation

◆ is_part_of_region()

template<typename GeomTraits , typename InputRange , typename PointMap , typename NormalMap >
bool CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region< GeomTraits, InputRange, PointMap, NormalMap >::is_part_of_region ( const std::size_t  ,
const std::size_t  query_index,
const std::vector< std::size_t > &   
) const

implements RegionType::is_part_of_region().

This function controls if a point with the index query_index is within the distance_threshold from the corresponding plane and if the angle between its normal and the plane's normal is within the angle_threshold. If both conditions are satisfied, it returns true, otherwise false.

Parameters
query_indexindex of the query point

The first and third parameters are not used in this implementation.

Returns
Boolean true or false
Precondition
query_index >= 0 && query_index < input_range.size()

◆ is_valid_region()

template<typename GeomTraits , typename InputRange , typename PointMap , typename NormalMap >
bool CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region< GeomTraits, InputRange, PointMap, NormalMap >::is_valid_region ( const std::vector< std::size_t > &  region) const

implements RegionType::is_valid_region().

This function controls if the region contains at least min_region_size points.

Parameters
regionindices of points included in the region
Returns
Boolean true or false

◆ update()

template<typename GeomTraits , typename InputRange , typename PointMap , typename NormalMap >
void CGAL::Shape_detection::Point_set::Least_squares_plane_fit_region< GeomTraits, InputRange, PointMap, NormalMap >::update ( const std::vector< std::size_t > &  region)

implements RegionType::update().

This function fits the least squares plane to all points from the region.

Parameters
regionindices of points included in the region
Precondition
region.size() > 0