sample_consensus::SACModelPlane Class Reference

A Sample Consensus Model class for 3D plane segmentation. More...

#include <sac_model_plane.h>

Inheritance diagram for sample_consensus::SACModelPlane:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual bool computeModelCoefficients (const std::vector< int > &samples)
 Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them internally in model_coefficients_. The plane coefficients are: a, b, c, d (ax+by+cz+d=0).
virtual bool doSamplesVerifyModel (const std::set< int > &indices, double threshold)
 Verify whether a subset of indices verifies the internal plane model coefficients.
virtual void getDistancesToModel (const std::vector< double > &model_coefficients, std::vector< double > &distances)
 Compute all distances from the cloud data to a given plane model.
virtual int getModelType ()
 Return an unique id for this model (SACMODEL_PLANE).
virtual void getSamples (int &iterations, std::vector< int > &samples)
 Get 3 random non-collinear points as data samples and return them as point indices.
virtual void projectPoints (const std::vector< int > &inliers, const std::vector< double > &model_coefficients, sensor_msgs::PointCloud &projected_points)
 Create a new point cloud with inliers projected onto the plane model.
virtual void projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)
 Project inliers (in place) onto the given plane model.
virtual void refitModel (const std::vector< int > &inliers, std::vector< double > &refit_coefficients)
 Recompute the plane coefficients using the given inlier set and return them to the user.
 SACModelPlane ()
 Constructor for base SACModelPlane.
virtual void selectWithinDistance (const std::vector< double > &model_coefficients, double threshold, std::vector< int > &inliers)
 Select all the points which respect the given model coefficients as inliers.
bool testModelCoefficients (const std::vector< double > &model_coefficients)
 Test whether the given model coefficients are valid given the input point cloud data.
virtual ~SACModelPlane ()
 Destructor for base SACModelPlane.

Static Public Member Functions

static int functionToOptimize (void *p, int m, int n, const double *x, double *fvec, int iflag)

Detailed Description

A Sample Consensus Model class for 3D plane segmentation.

Definition at line 46 of file sac_model_plane.h.


Constructor & Destructor Documentation

sample_consensus::SACModelPlane::SACModelPlane (  )  [inline]

Constructor for base SACModelPlane.

Definition at line 51 of file sac_model_plane.h.

virtual sample_consensus::SACModelPlane::~SACModelPlane (  )  [inline, virtual]

Destructor for base SACModelPlane.

Definition at line 55 of file sac_model_plane.h.


Member Function Documentation

bool sample_consensus::SACModelPlane::computeModelCoefficients ( const std::vector< int > &  samples  )  [virtual]

Check whether the given index samples can form a valid plane model, compute the model coefficients from these samples and store them internally in model_coefficients_. The plane coefficients are: a, b, c, d (ax+by+cz+d=0).

Parameters:
samples the point indices found as possible good candidates for creating a valid model

Implements sample_consensus::SACModel.

Definition at line 248 of file sac_model_plane.cpp.

bool sample_consensus::SACModelPlane::doSamplesVerifyModel ( const std::set< int > &  indices,
double  threshold 
) [virtual]

Verify whether a subset of indices verifies the internal plane model coefficients.

Parameters:
indices the data indices that need to be tested against the plane model
threshold a maximum admissible distance threshold for determining the inliers from the outliers

Implements sample_consensus::SACModel.

Definition at line 332 of file sac_model_plane.cpp.

static int sample_consensus::SACModelPlane::functionToOptimize ( void *  p,
int  m,
int  n,
const double *  x,
double *  fvec,
int  iflag 
) [static]
void sample_consensus::SACModelPlane::getDistancesToModel ( const std::vector< double > &  model_coefficients,
std::vector< double > &  distances 
) [virtual]

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

Parameters:
model_coefficients the coefficients of a plane model that we need to compute distances to
distances the resultant estimated distances

Implements sample_consensus::SACModel.

Reimplemented in sample_consensus::SACModelNormalPlane, and sample_consensus::SACModelOrientedPlane.

Definition at line 144 of file sac_model_plane.cpp.

virtual int sample_consensus::SACModelPlane::getModelType (  )  [inline, virtual]

Return an unique id for this model (SACMODEL_PLANE).

Implements sample_consensus::SACModel.

Reimplemented in sample_consensus::SACModelNormalPlane, and sample_consensus::SACModelOrientedPlane.

Definition at line 81 of file sac_model_plane.h.

void sample_consensus::SACModelPlane::getSamples ( int &  iterations,
std::vector< int > &  samples 
) [virtual]

Get 3 random non-collinear points as data samples and return them as point indices.

Parameters:
iterations the internal number of iterations used by SAC methods
samples the resultant model samples
Note:
assumes unique points!

Implements sample_consensus::SACModel.

Definition at line 45 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::projectPoints ( const std::vector< int > &  inliers,
const std::vector< double > &  model_coefficients,
sensor_msgs::PointCloud &  projected_points 
) [virtual]

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

Parameters:
inliers the data inliers that we want to project on the plane model
model_coefficients the *normalized* coefficients of a plane model
projected_points the resultant projected points

Implements sample_consensus::SACModel.

Definition at line 166 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::projectPointsInPlace ( const std::vector< int > &  inliers,
const std::vector< double > &  model_coefficients 
) [virtual]

Project inliers (in place) onto the given plane model.

Parameters:
inliers the data inliers that we want to project on the plane model
model_coefficients the *normalized* coefficients of a plane model

Implements sample_consensus::SACModel.

Definition at line 214 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::refitModel ( const std::vector< int > &  inliers,
std::vector< double > &  refit_coefficients 
) [virtual]

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

Note:
: these are the coefficients of the plane model after refinement (eg. after SVD)
Parameters:
inliers the data inliers found as supporting the model
refit_coefficients the resultant recomputed coefficients after non-linear optimization

Implements sample_consensus::SACModel.

Definition at line 306 of file sac_model_plane.cpp.

void sample_consensus::SACModelPlane::selectWithinDistance ( const std::vector< double > &  model_coefficients,
double  threshold,
std::vector< int > &  inliers 
) [virtual]

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

Parameters:
model_coefficients the coefficients of a plane model that we need to compute distances to
threshold a maximum admissible distance threshold for determining the inliers from the outliers
inliers the resultant model inliers
Note:
: we should compare (e^2) < (T^2) but instead we use fabs(e) because threshold is always positive
: To get the refined inliers of a model, use: ANNpoint refined_coeff = refitModel (...); selectWithinDistance (refined_coeff, threshold);

Implements sample_consensus::SACModel.

Reimplemented in sample_consensus::SACModelNormalPlane, and sample_consensus::SACModelOrientedPlane.

Definition at line 114 of file sac_model_plane.cpp.

bool sample_consensus::SACModelPlane::testModelCoefficients ( const std::vector< double > &  model_coefficients  )  [inline, virtual]

Test whether the given model coefficients are valid given the input point cloud data.

Parameters:
model_coefficients the model coefficients that need to be tested
Todo:
implement this

Implements sample_consensus::SACModel.

Definition at line 64 of file sac_model_plane.h.


The documentation for this class was generated from the following files:
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door_handle_detector
Author(s): Radu Bogdan Rusu, Marius
autogenerated on Fri Jan 11 09:42:08 2013