#include <sac_model.h>
Public Member Functions | |
| virtual bool | computeModelCoefficients (const std::vector< int > &samples)=0 |
| Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them internally in model_coefficients_. Pure virtual. | |
| virtual bool | doSamplesVerifyModel (const std::set< int > &indices, double threshold)=0 |
| Verify whether a subset of indices verifies the internal model coefficients. Pure virtual. | |
| std::vector< int > | getBestInliers () |
| Return the best set of inliers found so far for this model. | |
| std::vector< int > | getBestModel () |
| Return the best model found so far. | |
| sensor_msgs::PointCloud * | getCloud () |
| Return a pointer to the point cloud data. | |
| virtual void | getDistancesToModel (const std::vector< double > &model_coefficients, std::vector< double > &distances)=0 |
| Compute all distances from the cloud data to a given model. Pure virtual. | |
| std::vector< int > * | getIndices () |
| Return a pointer to the point cloud data indices. | |
| std::vector< double > | getModelCoefficients () |
| Return the model coefficients of the best model found so far. | |
| virtual int | getModelType ()=0 |
| Return an unique id for each type of model employed. | |
| virtual void | getSamples (int &iterations, std::vector< int > &samples)=0 |
| Get a set of random data samples and return them as point indices. Pure virtual. | |
| virtual void | projectPoints (const std::vector< int > &inliers, const std::vector< double > &model_coefficients, sensor_msgs::PointCloud &projected_points)=0 |
| Create a new point cloud with inliers projected onto the model. Pure virtual. | |
| virtual void | projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)=0 |
| Project inliers (in place) onto the given model. Pure virtual. | |
| virtual void | refitModel (const std::vector< int > &inliers, std::vector< double > &refit_coefficients)=0 |
| Recompute the model coefficients using the given inlier set and return them to the user. Pure virtual. | |
| virtual int | removeInliers () |
| Remove the inliers found from the initial set of given point indices. | |
| SACModel (sensor_msgs::PointCloud cloud) | |
| SACModel () | |
| Constructor for base SACModel. | |
| virtual void | selectWithinDistance (const std::vector< double > &model_coefficients, double threshold, std::vector< int > &inliers)=0 |
| Select all the points which respect the given model coefficients as inliers. Pure virtual. | |
| void | setBestInliers (const std::vector< int > &best_inliers) |
| Set the best set of inliers. Used by SAC methods. Do not call this except if you know what you're doing. | |
| void | setBestModel (std::vector< int > best_model) |
| Set the best model. Used by SAC methods. Do not call this except if you know what you're doing. | |
| void | setDataIndices (std::vector< int > indices) |
| Set the indices. | |
| void | setDataSet (sensor_msgs::PointCloud *cloud, std::vector< int > indices) |
| Set the dataset and indices. | |
| void | setDataSet (sensor_msgs::PointCloud *cloud) |
| Set the dataset. | |
| virtual bool | testModelCoefficients (const std::vector< double > &model_coefficients)=0 |
| Test whether the given model coefficients are valid given the input point cloud data. Pure virtual. | |
| virtual | ~SACModel () |
| Destructor for base SACModel. | |
Protected Attributes | |
| std::vector< int > | best_inliers_ |
| The indices of the points that were chosen as inliers after the last computeModel () call. | |
| std::vector< int > | best_model_ |
| The model found after the last computeModel () as pointcloud indices. | |
| sensor_msgs::PointCloud * | cloud_ |
| Holds a pointer to the point cloud data array, since we don't want to copy the whole thing here. | |
| std::vector< int > | indices_ |
| The list of internal point indices used. | |
| std::vector< double > | model_coefficients_ |
| The coefficients of our model computed directly from the best samples found. | |
Definition at line 43 of file sac_model.h.
| sample_consensus::SACModel::SACModel | ( | ) | [inline] |
Constructor for base SACModel.
Definition at line 48 of file sac_model.h.
| sample_consensus::SACModel::SACModel | ( | sensor_msgs::PointCloud | cloud | ) | [inline] |
Definition at line 49 of file sac_model.h.
| virtual sample_consensus::SACModel::~SACModel | ( | ) | [inline, virtual] |
Destructor for base SACModel.
Definition at line 53 of file sac_model.h.
| virtual bool sample_consensus::SACModel::computeModelCoefficients | ( | const std::vector< int > & | samples | ) | [pure virtual] |
Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them internally in model_coefficients_. Pure virtual.
| samples | the point indices found as possible good candidates for creating a valid model |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| virtual bool sample_consensus::SACModel::doSamplesVerifyModel | ( | const std::set< int > & | indices, | |
| double | threshold | |||
| ) | [pure virtual] |
Verify whether a subset of indices verifies the internal model coefficients. Pure virtual.
| indices | the data indices that need to be tested against the model | |
| threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| std::vector<int> sample_consensus::SACModel::getBestInliers | ( | ) | [inline] |
Return the best set of inliers found so far for this model.
Definition at line 165 of file sac_model.h.
| std::vector<int> sample_consensus::SACModel::getBestModel | ( | ) | [inline] |
Return the best model found so far.
Definition at line 174 of file sac_model.h.
| sensor_msgs::PointCloud* sample_consensus::SACModel::getCloud | ( | ) | [inline] |
Return a pointer to the point cloud data.
Definition at line 181 of file sac_model.h.
| virtual void sample_consensus::SACModel::getDistancesToModel | ( | const std::vector< double > & | model_coefficients, | |
| std::vector< double > & | distances | |||
| ) | [pure virtual] |
Compute all distances from the cloud data to a given model. Pure virtual.
| model_coefficients | the coefficients of a model that we need to compute distances to | |
| distances | the resultant estimated distances |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelNormalPlane, sample_consensus::SACModelOrientedLine, sample_consensus::SACModelOrientedPlane, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| std::vector<int>* sample_consensus::SACModel::getIndices | ( | ) | [inline] |
Return a pointer to the point cloud data indices.
Definition at line 184 of file sac_model.h.
| std::vector<double> sample_consensus::SACModel::getModelCoefficients | ( | ) | [inline] |
Return the model coefficients of the best model found so far.
Definition at line 178 of file sac_model.h.
| virtual int sample_consensus::SACModel::getModelType | ( | ) | [pure virtual] |
Return an unique id for each type of model employed.
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelNormalPlane, sample_consensus::SACModelOrientedLine, sample_consensus::SACModelOrientedPlane, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| virtual void sample_consensus::SACModel::getSamples | ( | int & | iterations, | |
| std::vector< int > & | samples | |||
| ) | [pure virtual] |
Get a set of random data samples and return them as point indices. Pure virtual.
| iterations | the internal number of iterations used by SAC methods | |
| samples | the resultant model samples |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| virtual void sample_consensus::SACModel::projectPoints | ( | const std::vector< int > & | inliers, | |
| const std::vector< double > & | model_coefficients, | |||
| sensor_msgs::PointCloud & | projected_points | |||
| ) | [pure virtual] |
Create a new point cloud with inliers projected onto the model. Pure virtual.
| inliers | the data inliers that we want to project on the model | |
| model_coefficients | the coefficients of a model | |
| projected_points | the resultant projected points |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| virtual void sample_consensus::SACModel::projectPointsInPlace | ( | const std::vector< int > & | inliers, | |
| const std::vector< double > & | model_coefficients | |||
| ) | [pure virtual] |
Project inliers (in place) onto the given model. Pure virtual.
| inliers | the data inliers that we want to project on the model | |
| model_coefficients | the coefficients of a model |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| virtual void sample_consensus::SACModel::refitModel | ( | const std::vector< int > & | inliers, | |
| std::vector< double > & | refit_coefficients | |||
| ) | [pure virtual] |
Recompute the model coefficients using the given inlier set and return them to the user. Pure virtual.
| inliers | the data inliers found as supporting the model | |
| refit_coefficients | the resultant recomputed coefficients after non-linear optimization |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| int sample_consensus::SACModel::removeInliers | ( | ) | [virtual] |
Remove the inliers found from the initial set of given point indices.
Definition at line 41 of file sac_model.cpp.
| virtual void sample_consensus::SACModel::selectWithinDistance | ( | const std::vector< double > & | model_coefficients, | |
| double | threshold, | |||
| std::vector< int > & | inliers | |||
| ) | [pure virtual] |
Select all the points which respect the given model coefficients as inliers. Pure virtual.
| model_coefficients | the coefficients of a 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 |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelNormalPlane, sample_consensus::SACModelOrientedLine, sample_consensus::SACModelOrientedPlane, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
| void sample_consensus::SACModel::setBestInliers | ( | const std::vector< int > & | best_inliers | ) | [inline] |
Set the best set of inliers. Used by SAC methods. Do not call this except if you know what you're doing.
| best_inliers | the set of inliers for the best model |
Definition at line 161 of file sac_model.h.
| void sample_consensus::SACModel::setBestModel | ( | std::vector< int > | best_model | ) | [inline] |
Set the best model. Used by SAC methods. Do not call this except if you know what you're doing.
| best_model | the best model found so far |
Definition at line 170 of file sac_model.h.
| void sample_consensus::SACModel::setDataIndices | ( | std::vector< int > | indices | ) | [inline] |
Set the indices.
| indices | the point indices used |
Definition at line 148 of file sac_model.h.
| void sample_consensus::SACModel::setDataSet | ( | sensor_msgs::PointCloud * | cloud, | |
| std::vector< int > | indices | |||
| ) | [inline] |
Set the dataset and indices.
| cloud | the data set to be used | |
| indices | the point indices used |
Definition at line 140 of file sac_model.h.
| void sample_consensus::SACModel::setDataSet | ( | sensor_msgs::PointCloud * | cloud | ) | [inline] |
Set the dataset.
| cloud | the data set to be used |
Definition at line 127 of file sac_model.h.
| virtual bool sample_consensus::SACModel::testModelCoefficients | ( | const std::vector< double > & | model_coefficients | ) | [pure virtual] |
Test whether the given model coefficients are valid given the input point cloud data. Pure virtual.
| model_coefficients | the model coefficients that need to be tested |
Implemented in sample_consensus::SACModelCircle2D, sample_consensus::SACModelCylinder, sample_consensus::SACModelLine, sample_consensus::SACModelParallelLines, sample_consensus::SACModelPlane, and sample_consensus::SACModelSphere.
std::vector<int> sample_consensus::SACModel::best_inliers_ [protected] |
The indices of the points that were chosen as inliers after the last computeModel () call.
Definition at line 200 of file sac_model.h.
std::vector<int> sample_consensus::SACModel::best_model_ [protected] |
The model found after the last computeModel () as pointcloud indices.
Definition at line 198 of file sac_model.h.
sensor_msgs::PointCloud* sample_consensus::SACModel::cloud_ [protected] |
Holds a pointer to the point cloud data array, since we don't want to copy the whole thing here.
Definition at line 189 of file sac_model.h.
std::vector<int> sample_consensus::SACModel::indices_ [protected] |
The list of internal point indices used.
Definition at line 192 of file sac_model.h.
std::vector<double> sample_consensus::SACModel::model_coefficients_ [protected] |
The coefficients of our model computed directly from the best samples found.
Definition at line 195 of file sac_model.h.
