Point Cloud Library (PCL)  1.3.1
Classes | Public Types | Public Member Functions | Friends
pcl::SampleConsensusModelCylinder Class Reference

SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. More...

#include <pcl/sample_consensus/sac_model_cylinder.h>

Inheritance diagram for pcl::SampleConsensusModelCylinder:
Inheritance graph
[legend]
Collaboration diagram for pcl::SampleConsensusModelCylinder:
Collaboration graph
[legend]

List of all members.

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 >

Detailed Description

SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.

The model coefficients are defined as:

Author:
Radu Bogdan Rusu

Member Typedef Documentation

typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel::ConstPtr [inherited]

Definition at line 72 of file sac_model.h.

Definition at line 379 of file sac_model.h.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 76 of file sac_model_cylinder.h.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 78 of file sac_model_cylinder.h.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 77 of file sac_model_cylinder.h.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 80 of file sac_model_cylinder.h.


Constructor & Destructor Documentation

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

Constructor for base SampleConsensusModelCylinder.

Parameters:
[in]cloudthe 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.

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

Definition at line 94 of file sac_model_cylinder.h.


Member Function Documentation

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

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

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

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.

Parameters:
[in]indicesthe data indices that need to be tested against the cylinder model
[in]model_coefficientsthe cylinder model coefficients
[in]thresholda 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.

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

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::SampleConsensusModelCylinder::getSamples ( int &  iterations,
std::vector< int > &  samples 
)

Get 2 random points with their normals as data samples and return them as point indices.

Parameters:
[out]iterationsthe internal number of iterations used by SAC methods
[out]samplesthe resultant model samples
Note:
assumes unique points!

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.

Note:
: these are the coefficients of the cylinder model after refinement (eg. after SVD)
Parameters:
[in]inliersthe data inliers found as supporting the model
[in]model_coefficientsthe initial guess for the optimization
[out]optimized_coefficientsthe 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.

Parameters:
[in]inliersthe data inliers that we want to project on the cylinder model
[in]model_coefficientsthe coefficients of a cylinder model
[out]projected_pointsthe resultant projected points
[in]copy_data_fieldsset 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.

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
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.

Parameters:
[in]model_coefficientsthe coefficients of a cylinder 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

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.

Parameters:
[in]axthe 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.

Parameters:
[in]eathe 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.

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, inherited]

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, inherited]

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::SampleConsensusModelFromNormals::setInputNormals ( const PointCloudNConstPtr normals) [inline, inherited]

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

Parameters:
[in]normalsthe 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.

Parameters:
[in]wthe 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)

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, inherited]

Definition at line 319 of file sac_model.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines