Point Cloud Library (PCL)
1.3.1
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SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. More...
#include <pcl/sample_consensus/sac_model_cylinder.h>
Classes | |
struct | OptimizationFunctor |
Functor for the optimization function. More... | |
Public Types | |
typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < SampleConsensusModelCylinder > | Ptr |
typedef boost::shared_ptr < const SampleConsensusModel > | ConstPtr |
typedef pcl::PointCloud < PointNT >::ConstPtr | PointCloudNConstPtr |
typedef pcl::PointCloud < PointNT >::Ptr | PointCloudNPtr |
typedef boost::shared_ptr < const SampleConsensusModelFromNormals > | ConstPtr |
Public Member Functions | |
SampleConsensusModelCylinder (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModelCylinder. | |
SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
Constructor for base SampleConsensusModelCylinder. | |
void | setEpsAngle (const double ea) |
Set the angle epsilon (delta) threshold. | |
double | getEpsAngle () |
Get the angle epsilon (delta) threshold. | |
void | setAxis (const Eigen::Vector3f &ax) |
Set the axis along which we need to search for a cylinder direction. | |
Eigen::Vector3f | getAxis () |
Get the axis along which we need to search for a cylinder direction. | |
void | getSamples (int &iterations, std::vector< int > &samples) |
Get 2 random points with their normals as data samples and return them as point indices. | |
bool | computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients) |
Check whether the given index samples can form a valid cylinder model, compute the model coefficients from these samples and store them in model_coefficients. | |
void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
Compute all distances from the cloud data to a given cylinder model. | |
void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers) |
Select all the points which respect the given model coefficients as inliers. | |
virtual int | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) |
Count all the points which respect the given model coefficients as inliers. | |
void | optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) |
Recompute the cylinder coefficients using the given inlier set and return them to the user. | |
void | projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) |
Create a new point cloud with inliers projected onto the cylinder model. | |
bool | doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) |
Verify whether a subset of indices verifies the given cylinder model coefficients. | |
pcl::SacModel | getModelType () const |
Return an unique id for this model (SACMODEL_CYLINDER). | |
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 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. | |
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. | |
void | setNormalDistanceWeight (const double w) |
Set the normal angular distance weight. | |
double | getNormalDistanceWeight () |
Get the normal angular distance weight. | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
PointCloudNConstPtr | getInputNormals () |
Get a pointer to the normals of the input XYZ point cloud dataset. | |
Friends | |
class | ProgressiveSampleConsensus< PointT > |
SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
The model coefficients are defined as:
typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel::ConstPtr [inherited] |
Definition at line 72 of file sac_model.h.
typedef boost::shared_ptr<const SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals::ConstPtr [inherited] |
Definition at line 379 of file sac_model.h.
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelCylinder::PointCloud |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 76 of file sac_model_cylinder.h.
typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelCylinder::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 78 of file sac_model_cylinder.h.
typedef pcl::PointCloud<PointNT>::ConstPtr pcl::SampleConsensusModelFromNormals::PointCloudNConstPtr [inherited] |
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane, and pcl::SampleConsensusModelNormalPlane.
Definition at line 375 of file sac_model.h.
typedef pcl::PointCloud<PointNT>::Ptr pcl::SampleConsensusModelFromNormals::PointCloudNPtr [inherited] |
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane, and pcl::SampleConsensusModelNormalPlane.
Definition at line 376 of file sac_model.h.
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelCylinder::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 77 of file sac_model_cylinder.h.
typedef boost::shared_ptr<SampleConsensusModelCylinder> pcl::SampleConsensusModelCylinder::Ptr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 80 of file sac_model_cylinder.h.
pcl::SampleConsensusModelCylinder::SampleConsensusModelCylinder | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelCylinder.
[in] | cloud | the input point cloud dataset |
Definition at line 85 of file sac_model_cylinder.h.
pcl::SampleConsensusModelCylinder::SampleConsensusModelCylinder | ( | const PointCloudConstPtr & | cloud, |
const std::vector< int > & | indices | ||
) | [inline] |
Constructor for base SampleConsensusModelCylinder.
[in] | cloud | the input point cloud dataset |
[in] | indices | a vector of point indices to be used from cloud |
Definition at line 94 of file sac_model_cylinder.h.
bool pcl::SampleConsensusModelCylinder::computeModelCoefficients | ( | const std::vector< int > & | samples, |
Eigen::VectorXf & | model_coefficients | ||
) | [virtual] |
Check whether the given index samples can form a valid cylinder model, compute the model coefficients from these samples and store them in model_coefficients.
The cylinder coefficients are: point_on_axis, axis_direction, cylinder_radius_R
[in] | samples | the point indices found as possible good candidates for creating a valid model |
[out] | model_coefficients | the resultant model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 54 of file sac_model_cylinder.hpp.
int pcl::SampleConsensusModelCylinder::countWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, |
const double | threshold | ||
) | [virtual] |
Count all the points which respect the given model coefficients as inliers.
[in] | model_coefficients | the coefficients of a model that we need to compute distances to |
[in] | threshold | maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 212 of file sac_model_cylinder.hpp.
bool pcl::SampleConsensusModelCylinder::doSamplesVerifyModel | ( | const std::set< int > & | indices, |
const Eigen::VectorXf & | model_coefficients, | ||
const double | threshold | ||
) | [virtual] |
Verify whether a subset of indices verifies the given cylinder model coefficients.
[in] | indices | the data indices that need to be tested against the cylinder model |
[in] | model_coefficients | the cylinder model coefficients |
[in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 383 of file sac_model_cylinder.hpp.
Eigen::Vector3f pcl::SampleConsensusModelCylinder::getAxis | ( | ) | [inline] |
Get the axis along which we need to search for a cylinder direction.
Definition at line 117 of file sac_model_cylinder.h.
void pcl::SampleConsensusModelCylinder::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, |
std::vector< double > & | distances | ||
) | [virtual] |
Compute all distances from the cloud data to a given cylinder model.
[in] | model_coefficients | the coefficients of a cylinder model that we need to compute distances to |
[out] | distances | the resultant estimated distances |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 121 of file sac_model_cylinder.hpp.
double pcl::SampleConsensusModelCylinder::getEpsAngle | ( | ) | [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 107 of file sac_model_cylinder.h.
boost::shared_ptr<std::vector<int> > pcl::SampleConsensusModel::getIndices | ( | ) | const [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 277 of file sac_model.h.
PointCloudConstPtr pcl::SampleConsensusModel::getInputCloud | ( | ) | const [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 253 of file sac_model.h.
PointCloudNConstPtr pcl::SampleConsensusModelFromNormals::getInputNormals | ( | ) | [inline, inherited] |
Get a pointer to the normals of the input XYZ point cloud dataset.
Definition at line 412 of file sac_model.h.
pcl::SacModel pcl::SampleConsensusModelCylinder::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_CYLINDER).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 201 of file sac_model_cylinder.h.
double pcl::SampleConsensusModelFromNormals::getNormalDistanceWeight | ( | ) | [inline, inherited] |
Get the normal angular distance weight.
Definition at line 397 of file sac_model.h.
void pcl::SampleConsensusModel::getRadiusLimits | ( | double & | min_radius, |
double & | max_radius | ||
) | [inline, inherited] |
Get the minimum and maximum allowable radius limits for the model as set by the user.
[out] | min_radius | the resultant minimum radius model |
[out] | max_radius | the resultant maximum radius model |
Definition at line 313 of file sac_model.h.
void pcl::SampleConsensusModelCylinder::getSamples | ( | int & | iterations, |
std::vector< int > & | samples | ||
) |
Get 2 random points with their normals as data samples and return them as point indices.
[out] | iterations | the internal number of iterations used by SAC methods |
[out] | samples | the resultant model samples |
Reimplemented from pcl::SampleConsensusModel< PointT >.
unsigned int pcl::SampleConsensusModel::getSampleSize | ( | ) | const [inline, inherited] |
Return the size of a sample from which a model is computed.
Definition at line 285 of file sac_model.h.
void pcl::SampleConsensusModelCylinder::optimizeModelCoefficients | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
Eigen::VectorXf & | optimized_coefficients | ||
) | [virtual] |
Recompute the cylinder coefficients using the given inlier set and return them to the user.
[in] | inliers | the data inliers found as supporting the model |
[in] | model_coefficients | the initial guess for the optimization |
[out] | optimized_coefficients | the resultant recomputed coefficients after non-linear optimization |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 252 of file sac_model_cylinder.hpp.
void pcl::SampleConsensusModelCylinder::projectPoints | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
PointCloud & | projected_points, | ||
bool | copy_data_fields = true |
||
) |
Create a new point cloud with inliers projected onto the cylinder model.
[in] | inliers | the data inliers that we want to project on the cylinder model |
[in] | model_coefficients | the coefficients of a cylinder model |
[out] | projected_points | the resultant projected points |
[in] | copy_data_fields | set to true if we need to copy the other data fields |
Definition at line 297 of file sac_model_cylinder.hpp.
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, inherited] |
Create a new point cloud with inliers projected onto the model.
Pure virtual.
[in] | inliers | the data inliers that we want to project on the model |
[in] | model_coefficients | the coefficients of a model |
[out] | projected_points | the resultant projected points |
[in] | copy_data_fields | set 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 |
void pcl::SampleConsensusModelCylinder::selectWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, |
const double | threshold, | ||
std::vector< int > & | inliers | ||
) | [virtual] |
Select all the points which respect the given model coefficients as inliers.
[in] | model_coefficients | the coefficients of a cylinder model that we need to compute distances to |
[in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
[out] | inliers | the resultant model inliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 164 of file sac_model_cylinder.hpp.
void pcl::SampleConsensusModelCylinder::setAxis | ( | const Eigen::Vector3f & | ax | ) | [inline] |
Set the axis along which we need to search for a cylinder direction.
[in] | ax | the axis along which we need to search for a cylinder direction |
Definition at line 113 of file sac_model_cylinder.h.
void pcl::SampleConsensusModelCylinder::setEpsAngle | ( | const double | ea | ) | [inline] |
Set the angle epsilon (delta) threshold.
[in] | ea | the maximum allowed difference between the cyilinder axis and the given axis. |
Definition at line 103 of file sac_model_cylinder.h.
void pcl::SampleConsensusModel::setIndices | ( | const boost::shared_ptr< std::vector< int > > & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
[in] | indices | a 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, inherited] |
Provide the vector of indices that represents the input data.
[out] | indices | the 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, inherited] |
Provide a pointer to the input dataset.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 236 of file sac_model.h.
void pcl::SampleConsensusModelFromNormals::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
[in] | normals | the const boost shared pointer to a PointCloud message |
Definition at line 405 of file sac_model.h.
void pcl::SampleConsensusModelFromNormals::setNormalDistanceWeight | ( | const double | w | ) | [inline, inherited] |
Set the normal angular distance weight.
[in] | w | the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. (The Euclidean distance will have weight 1-w.) |
Definition at line 390 of file sac_model.h.
void pcl::SampleConsensusModel::setRadiusLimits | ( | const double & | min_radius, |
const double & | max_radius | ||
) | [inline, inherited] |
Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)
[in] | min_radius | the minimum radius model |
[in] | max_radius | the maximum radius model |
Definition at line 300 of file sac_model.h.
friend class ProgressiveSampleConsensus< PointT > [friend, inherited] |
Definition at line 319 of file sac_model.h.