Point Cloud Library (PCL)
1.3.1
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SampleConsensusModel represents the base model class. More...
#include <pcl/sample_consensus/sac_model.h>
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 > |
SampleConsensusModel represents the base model class.
All sample consensus models must inherit from this class.
typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel::ConstPtr |
Definition at line 72 of file sac_model.h.
typedef pcl::PointCloud<PointT> pcl::SampleConsensusModel::PointCloud |
Reimplemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelCircle2D, pcl::SampleConsensusModelLine, pcl::SampleConsensusModelSphere, and pcl::SampleConsensusModelRegistration.
Definition at line 67 of file sac_model.h.
typedef pcl::PointCloud<PointT>::ConstPtr pcl::SampleConsensusModel::PointCloudConstPtr |
Reimplemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelCircle2D, pcl::SampleConsensusModelLine, pcl::SampleConsensusModelSphere, and pcl::SampleConsensusModelRegistration.
Definition at line 68 of file sac_model.h.
typedef pcl::PointCloud<PointT>::Ptr pcl::SampleConsensusModel::PointCloudPtr |
Reimplemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelCircle2D, pcl::SampleConsensusModelLine, pcl::SampleConsensusModelSphere, and pcl::SampleConsensusModelRegistration.
Definition at line 69 of file sac_model.h.
typedef boost::shared_ptr<SampleConsensusModel> pcl::SampleConsensusModel::Ptr |
Reimplemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelCircle2D, pcl::SampleConsensusModelLine, pcl::SampleConsensusModelSphere, and pcl::SampleConsensusModelRegistration.
Definition at line 71 of file sac_model.h.
pcl::SampleConsensusModel::SampleConsensusModel | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModel.
[in] | cloud | the 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.
[in] | cloud | the input point cloud dataset |
[in] | indices | a 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.
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.
[in] | samples | the point indices found as possible good candidates for creating a valid model |
[out] | model_coefficients | the 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.
[in] | model_coefficients | the coefficients of a model that we need to compute distances to |
[in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
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.
[in] | indices | the data indices that need to be tested against the model |
[in] | model_coefficients | the set of model coefficients |
[in] | threshold | a 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.
[in] | model_coefficients | the coefficients of a model that we need to compute distances to |
[out] | distances | the 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] |
Return an unique id for each type of model employed.
Implemented in pcl::SampleConsensusModelPlane, pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelRegistration, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelLine, and pcl::SampleConsensusModelCircle2D.
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.
[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::SampleConsensusModel::getSamples | ( | int & | iterations, |
std::vector< int > & | samples | ||
) | [inline] |
Get a set of random data samples and return them as point indices.
Pure virtual.
[out] | iterations | the internal number of iterations used by SAC methods |
[out] | samples | the 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.
[in] | inliers | the data inliers supporting the model |
[in] | model_coefficients | the initial guess for the model coefficients |
[out] | optimized_coefficients | the 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.
[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 |
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.
[in] | model_coefficients | the coefficients of a 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 |
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.
[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] |
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] |
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::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)
[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] |
Definition at line 319 of file sac_model.h.