Point Cloud Library (PCL)  1.3.1
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pcl::SampleConsensusModel Class Reference

SampleConsensusModel represents the base model class. More...

#include <pcl/sample_consensus/sac_model.h>

List of all members.

Public Types

typedef pcl::PointCloud< PointT > PointCloud
typedef pcl::PointCloud
< PointT >::ConstPtr 
PointCloudConstPtr
typedef pcl::PointCloud
< PointT >::Ptr 
PointCloudPtr
typedef boost::shared_ptr
< SampleConsensusModel
Ptr
typedef boost::shared_ptr
< const SampleConsensusModel
ConstPtr

Public Member Functions

 SampleConsensusModel (const PointCloudConstPtr &cloud)
 Constructor for base SampleConsensusModel.
 SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
 Constructor for base SampleConsensusModel.
virtual ~SampleConsensusModel ()
 Destructor for base SampleConsensusModel.
void getSamples (int &iterations, std::vector< int > &samples)
 Get a set of random data samples and return them as point indices.
virtual bool computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)=0
 Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them in model_coefficients.
virtual void optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)=0
 Recompute the model coefficients using the given inlier set and return them to the user.
virtual void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)=0
 Compute all distances from the cloud data to a given model.
virtual void selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)=0
 Select all the points which respect the given model coefficients as inliers.
virtual int countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)=0
 Count all the points which respect the given model coefficients as inliers.
virtual void projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true)=0
 Create a new point cloud with inliers projected onto the model.
virtual bool doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold)=0
 Verify whether a subset of indices verifies a given set of model coefficients.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
PointCloudConstPtr getInputCloud () const
 Get a pointer to the input point cloud dataset.
void setIndices (const boost::shared_ptr< std::vector< int > > &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setIndices (const std::vector< int > &indices)
 Provide the vector of indices that represents the input data.
boost::shared_ptr< std::vector
< int > > 
getIndices () const
 Get a pointer to the vector of indices used.
virtual SacModel getModelType () const =0
 Return an unique id for each type of model employed.
unsigned int getSampleSize () const
 Return the size of a sample from which a model is computed.
void setRadiusLimits (const double &min_radius, const double &max_radius)
 Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)
void getRadiusLimits (double &min_radius, double &max_radius)
 Get the minimum and maximum allowable radius limits for the model as set by the user.

Friends

class ProgressiveSampleConsensus< PointT >

Detailed Description

SampleConsensusModel represents the base model class.

All sample consensus models must inherit from this class.

Author:
Radu Bogdan Rusu

Member Typedef Documentation

Definition at line 72 of file sac_model.h.


Constructor & Destructor Documentation

pcl::SampleConsensusModel::SampleConsensusModel ( const PointCloudConstPtr cloud) [inline]

Constructor for base SampleConsensusModel.

Parameters:
[in]cloudthe input point cloud dataset

Definition at line 82 of file sac_model.h.

pcl::SampleConsensusModel::SampleConsensusModel ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices 
) [inline]

Constructor for base SampleConsensusModel.

Parameters:
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud

Definition at line 93 of file sac_model.h.

virtual pcl::SampleConsensusModel::~SampleConsensusModel ( ) [inline, virtual]

Destructor for base SampleConsensusModel.

Definition at line 108 of file sac_model.h.


Member Function Documentation

virtual bool pcl::SampleConsensusModel::computeModelCoefficients ( const std::vector< int > &  samples,
Eigen::VectorXf &  model_coefficients 
) [pure virtual]

Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them in model_coefficients.

Pure virtual.

Parameters:
[in]samplesthe point indices found as possible good candidates for creating a valid model
[out]model_coefficientsthe computed model coefficients

Implemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelRegistration, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelLine, and pcl::SampleConsensusModelCircle2D.

virtual int pcl::SampleConsensusModel::countWithinDistance ( const Eigen::VectorXf &  model_coefficients,
const double  threshold 
) [pure virtual]

Count all the points which respect the given model coefficients as inliers.

Pure virtual.

Parameters:
[in]model_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
Returns:
the resultant number of inliers

Implemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelRegistration, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelLine, and pcl::SampleConsensusModelCircle2D.

virtual bool pcl::SampleConsensusModel::doSamplesVerifyModel ( const std::set< int > &  indices,
const Eigen::VectorXf &  model_coefficients,
const double  threshold 
) [pure virtual]

Verify whether a subset of indices verifies a given set of model coefficients.

Pure virtual.

Parameters:
[in]indicesthe data indices that need to be tested against the model
[in]model_coefficientsthe set of model coefficients
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers

Implemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelRegistration, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelLine, and pcl::SampleConsensusModelCircle2D.

virtual void pcl::SampleConsensusModel::getDistancesToModel ( const Eigen::VectorXf &  model_coefficients,
std::vector< double > &  distances 
) [pure virtual]

Compute all distances from the cloud data to a given model.

Pure virtual.

Parameters:
[in]model_coefficientsthe coefficients of a model that we need to compute distances to
[out]distancesthe resultant estimated distances

Implemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelRegistration, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelLine, and pcl::SampleConsensusModelCircle2D.

boost::shared_ptr<std::vector<int> > pcl::SampleConsensusModel::getIndices ( ) const [inline]

Get a pointer to the vector of indices used.

Definition at line 277 of file sac_model.h.

PointCloudConstPtr pcl::SampleConsensusModel::getInputCloud ( ) const [inline]

Get a pointer to the input point cloud dataset.

Definition at line 253 of file sac_model.h.

virtual SacModel pcl::SampleConsensusModel::getModelType ( ) const [pure virtual]
void pcl::SampleConsensusModel::getRadiusLimits ( double &  min_radius,
double &  max_radius 
) [inline]

Get the minimum and maximum allowable radius limits for the model as set by the user.

Parameters:
[out]min_radiusthe resultant minimum radius model
[out]max_radiusthe resultant maximum radius model

Definition at line 313 of file sac_model.h.

void pcl::SampleConsensusModel::getSamples ( int &  iterations,
std::vector< int > &  samples 
) [inline]

Get a set of random data samples and return them as point indices.

Pure virtual.

Parameters:
[out]iterationsthe internal number of iterations used by SAC methods
[out]samplesthe resultant model samples

Reimplemented in pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelCircle2D, and pcl::SampleConsensusModelLine.

Definition at line 116 of file sac_model.h.

unsigned int pcl::SampleConsensusModel::getSampleSize ( ) const [inline]

Return the size of a sample from which a model is computed.

Definition at line 285 of file sac_model.h.

virtual void pcl::SampleConsensusModel::optimizeModelCoefficients ( const std::vector< int > &  inliers,
const Eigen::VectorXf &  model_coefficients,
Eigen::VectorXf &  optimized_coefficients 
) [pure virtual]

Recompute the model coefficients using the given inlier set and return them to the user.

Pure virtual.

Note:
: these are the coefficients of the model after refinement (e.g., after a least-squares optimization)
Parameters:
[in]inliersthe data inliers supporting the model
[in]model_coefficientsthe initial guess for the model coefficients
[out]optimized_coefficientsthe resultant recomputed coefficients after non-linear optimization

Implemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelRegistration, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelLine, and pcl::SampleConsensusModelCircle2D.

virtual void pcl::SampleConsensusModel::projectPoints ( const std::vector< int > &  inliers,
const Eigen::VectorXf &  model_coefficients,
PointCloud projected_points,
bool  copy_data_fields = true 
) [pure virtual]

Create a new point cloud with inliers projected onto the model.

Pure virtual.

Parameters:
[in]inliersthe data inliers that we want to project on the model
[in]model_coefficientsthe coefficients of a model
[out]projected_pointsthe resultant projected points
[in]copy_data_fieldsset to true (default) if we want the projected_points cloud to be an exact copy of the input dataset minus the point projections on the plane model
virtual void pcl::SampleConsensusModel::selectWithinDistance ( const Eigen::VectorXf &  model_coefficients,
const double  threshold,
std::vector< int > &  inliers 
) [pure virtual]

Select all the points which respect the given model coefficients as inliers.

Pure virtual.

Parameters:
[in]model_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe resultant model inliers

Implemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelRegistration, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelLine, and pcl::SampleConsensusModelCircle2D.

void pcl::SampleConsensusModel::setIndices ( const boost::shared_ptr< std::vector< int > > &  indices) [inline]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
[in]indicesa pointer to the vector of indices that represents the input data.

Definition at line 259 of file sac_model.h.

void pcl::SampleConsensusModel::setIndices ( const std::vector< int > &  indices) [inline]

Provide the vector of indices that represents the input data.

Parameters:
[out]indicesthe vector of indices that represents the input data.

Definition at line 269 of file sac_model.h.

virtual void pcl::SampleConsensusModel::setInputCloud ( const PointCloudConstPtr cloud) [inline, virtual]

Provide a pointer to the input dataset.

Parameters:
[in]cloudthe const boost shared pointer to a PointCloud message

Definition at line 236 of file sac_model.h.

void pcl::SampleConsensusModel::setRadiusLimits ( const double &  min_radius,
const double &  max_radius 
) [inline]

Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)

Parameters:
[in]min_radiusthe minimum radius model
[in]max_radiusthe maximum radius model

Definition at line 300 of file sac_model.h.


Friends And Related Function Documentation

friend class ProgressiveSampleConsensus< PointT > [friend]

Definition at line 319 of file sac_model.h.


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