sample_consensus::SACModelCylinder Class Reference

A Sample Consensus Model class for cylinder segmentation. More...

#include <sac_model_cylinder.h>

Inheritance diagram for sample_consensus::SACModelCylinder:

Public Member Functions
virtual bool	computeModelCoefficients (const std::vector< int > &samples)
	Check whether the given index samples can form a valid cylinder model, compute the model coefficients from these samples and store them internally in model_coefficients_. The cylinder coefficients are: x, y, z, R.
virtual bool	doSamplesVerifyModel (const std::set< int > &indices, double threshold)
	Verify whether a subset of indices verifies the internal cylinder 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 cylinder model.
virtual int	getModelType ()
	Return an unique id for this model (SACMODEL_CYLINDER).
virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get 4 random points (3 non-collinear) 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 cylinder model.
virtual void	projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)
	Project inliers (in place) onto the given cylinder model.
virtual void	refitModel (const std::vector< int > &inliers, std::vector< double > &refit_coefficients)
	Recompute the cylinder coefficients using the given inlier set and return them to the user.
	SACModelCylinder ()
	Constructor for base SACModelCylinder.
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	~SACModelCylinder ()
	Destructor for base SACModelCylinder.
Static Public Member Functions
static int	functionToOptimize (void p, int m, int n, const double x, double *fvec, int iflag)
	Cost function to be minimized.
Private Attributes
int	nx_idx_
	The coordinates of point normals in the dataset.
int	ny_idx_
int	nz_idx_
const std::vector< int > *	tmp_inliers_
	temporary pointer to a list of given indices for refitModel ()

Detailed Description

A Sample Consensus Model class for cylinder segmentation.

Definition at line 46 of file sac_model_cylinder.h.

Constructor & Destructor Documentation

sample_consensus::SACModelCylinder::SACModelCylinder ( ) [inline]

Constructor for base SACModelCylinder.

Definition at line 51 of file sac_model_cylinder.h.

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

Destructor for base SACModelCylinder.

Definition at line 55 of file sac_model_cylinder.h.

Member Function Documentation

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

Check whether the given index samples can form a valid cylinder model, compute the model coefficients from these samples and store them internally in model_coefficients_. The cylinder coefficients are: x, y, z, R.

Parameters:

samples

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

Implements sample_consensus::SACModel.

Definition at line 197 of file sac_model_cylinder.cpp.

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

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

Parameters:

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

Implements sample_consensus::SACModel.

Definition at line 362 of file sac_model_cylinder.cpp.

int sample_consensus::SACModelCylinder::functionToOptimize	(	void *	p,
		int	m,
		int	n,
		const double *	x,
		double *	fvec,
		int	iflag
	)			`[static]`

Cost function to be minimized.

Parameters:

	p	a pointer to our data structure array
	m	the number of functions
	n	the number of variables
	x	a pointer to the variables array
	fvec	a pointer to the resultant functions evaluations
	iflag	set to -1 inside the function to terminate execution

Definition at line 341 of file sac_model_cylinder.cpp.

void sample_consensus::SACModelCylinder::getDistancesToModel	(	const std::vector< double > &	model_coefficients,
		std::vector< double > &	distances
	)			`[virtual]`

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

Parameters:

	model_coefficients	the coefficients of a cylinder model that we need to compute distances to
	distances	the resultant estimated distances

Implements sample_consensus::SACModel.

Definition at line 151 of file sac_model_cylinder.cpp.

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

Return an unique id for this model (SACMODEL_CYLINDER).

Implements sample_consensus::SACModel.

Definition at line 81 of file sac_model_cylinder.h.

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

Get 4 random points (3 non-collinear) 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 43 of file sac_model_cylinder.cpp.

void sample_consensus::SACModelCylinder::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 cylinder model.

Parameters:

	inliers	the data inliers that we want to project on the cylinder model
	model_coefficients	the coefficients of a cylinder model
	projected_points	the resultant projected points

Todo:: implement this.

Implements sample_consensus::SACModel.

Definition at line 172 of file sac_model_cylinder.cpp.

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

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

Parameters:

	inliers	the data inliers that we want to project on the cylinder model
	model_coefficients	the coefficients of a cylinder model

Todo:: implement this.

Implements sample_consensus::SACModel.

Definition at line 186 of file sac_model_cylinder.cpp.

void sample_consensus::SACModelCylinder::refitModel	(	const std::vector< int > &	inliers,
		std::vector< double > &	refit_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:

	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 281 of file sac_model_cylinder.cpp.

void sample_consensus::SACModelCylinder::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 cylinder 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