Point Cloud Library (PCL)
1.3.1
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SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints. More...
#include <pcl/sample_consensus/sac_model_parallel_line.h>
Public Types | |
typedef SampleConsensusModelLine < PointT >::PointCloud | PointCloud |
typedef SampleConsensusModelLine < PointT >::PointCloudPtr | PointCloudPtr |
typedef SampleConsensusModelLine < PointT >::PointCloudConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < SampleConsensusModelParallelLine > | Ptr |
Public Member Functions | |
SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModelParallelLine. | |
SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
Constructor for base SampleConsensusModelParallelLine. | |
void | setAxis (const Eigen::Vector3f &ax) |
Set the axis along which we need to search for a plane perpendicular to. | |
Eigen::Vector3f | getAxis () |
Get the axis along which we need to search for a plane perpendicular to. | |
void | setEpsAngle (const double ea) |
Set the angle epsilon (delta) threshold. | |
double | getEpsAngle () |
Get the angle epsilon (delta) threshold. | |
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 | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
Compute all squared distances from the cloud data to a given line model. | |
pcl::SacModel | getModelType () const |
Return an unique id for this model (SACMODEL_PARALLEL_LINE). | |
void | getSamples (int &iterations, std::vector< int > &samples) |
Get 2 random points 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 line model, compute the model coefficients from these samples and store them internally in model_coefficients_. | |
void | optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) |
Recompute the line 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 line 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 line model coefficients. |
SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints.
The model coefficients are defined as:
typedef SampleConsensusModelLine<PointT>::PointCloud pcl::SampleConsensusModelParallelLine::PointCloud |
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 66 of file sac_model_parallel_line.h.
typedef SampleConsensusModelLine<PointT>::PointCloudConstPtr pcl::SampleConsensusModelParallelLine::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 68 of file sac_model_parallel_line.h.
typedef SampleConsensusModelLine<PointT>::PointCloudPtr pcl::SampleConsensusModelParallelLine::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 67 of file sac_model_parallel_line.h.
typedef boost::shared_ptr<SampleConsensusModelParallelLine> pcl::SampleConsensusModelParallelLine::Ptr |
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 70 of file sac_model_parallel_line.h.
pcl::SampleConsensusModelParallelLine::SampleConsensusModelParallelLine | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelParallelLine.
[in] | cloud | the input point cloud dataset |
Definition at line 75 of file sac_model_parallel_line.h.
pcl::SampleConsensusModelParallelLine::SampleConsensusModelParallelLine | ( | const PointCloudConstPtr & | cloud, |
const std::vector< int > & | indices | ||
) | [inline] |
Constructor for base SampleConsensusModelParallelLine.
[in] | cloud | the input point cloud dataset |
[in] | indices | a vector of point indices to be used from cloud |
Definition at line 85 of file sac_model_parallel_line.h.
bool pcl::SampleConsensusModelLine::computeModelCoefficients | ( | const std::vector< int > & | samples, |
Eigen::VectorXf & | model_coefficients | ||
) | [inherited] |
Check whether the given index samples can form a valid line model, compute the model coefficients from these samples and store them internally in model_coefficients_.
The line coefficients are represented by a point and a line direction
[in] | samples | the point indices found as possible good candidates for creating a valid model |
[out] | model_coefficients | the resultant model coefficients |
int pcl::SampleConsensusModelParallelLine::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 |
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 60 of file sac_model_parallel_line.hpp.
bool pcl::SampleConsensusModelLine::doSamplesVerifyModel | ( | const std::set< int > & | indices, |
const Eigen::VectorXf & | model_coefficients, | ||
const double | threshold | ||
) | [inherited] |
Verify whether a subset of indices verifies the given line model coefficients.
[in] | indices | the data indices that need to be tested against the line model |
[in] | model_coefficients | the line model coefficients |
[in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Eigen::Vector3f pcl::SampleConsensusModelParallelLine::getAxis | ( | ) | [inline] |
Get the axis along which we need to search for a plane perpendicular to.
Definition at line 99 of file sac_model_parallel_line.h.
void pcl::SampleConsensusModelParallelLine::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, |
std::vector< double > & | distances | ||
) |
Compute all squared distances from the cloud data to a given line model.
[in] | model_coefficients | the coefficients of a line model that we need to compute distances to |
[out] | distances | the resultant estimated squared distances |
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 72 of file sac_model_parallel_line.hpp.
double pcl::SampleConsensusModelParallelLine::getEpsAngle | ( | ) | [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 108 of file sac_model_parallel_line.h.
pcl::SacModel pcl::SampleConsensusModelParallelLine::getModelType | ( | ) | const [inline] |
Return an unique id for this model (SACMODEL_PARALLEL_LINE).
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 140 of file sac_model_parallel_line.h.
void pcl::SampleConsensusModelLine::getSamples | ( | int & | iterations, |
std::vector< int > & | samples | ||
) | [inherited] |
Get 2 random points 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 |
void pcl::SampleConsensusModelLine::optimizeModelCoefficients | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
Eigen::VectorXf & | optimized_coefficients | ||
) | [inherited] |
Recompute the line 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 model coefficients |
[out] | optimized_coefficients | the resultant recomputed coefficients after optimization |
void pcl::SampleConsensusModelLine::projectPoints | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
PointCloud & | projected_points, | ||
bool | copy_data_fields = true |
||
) | [inherited] |
Create a new point cloud with inliers projected onto the line model.
[in] | inliers | the data inliers that we want to project on the line model |
[in] | model_coefficients | the *normalized* coefficients of a line model |
[out] | projected_points | the resultant projected points |
[in] | copy_data_fields | set to true if we need to copy the other data fields |
void pcl::SampleConsensusModelParallelLine::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.
[in] | model_coefficients | the coefficients of a line 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 |
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 45 of file sac_model_parallel_line.hpp.
void pcl::SampleConsensusModelParallelLine::setAxis | ( | const Eigen::Vector3f & | ax | ) | [inline] |
Set the axis along which we need to search for a plane perpendicular to.
[in] | ax | the axis along which we need to search for a plane perpendicular to |
Definition at line 95 of file sac_model_parallel_line.h.
void pcl::SampleConsensusModelParallelLine::setEpsAngle | ( | const double | ea | ) | [inline] |
Set the angle epsilon (delta) threshold.
[in] | ea | the maximum allowed difference between the plane normal and the given axis. |
Definition at line 105 of file sac_model_parallel_line.h.