SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. More...
#include <sac_model_cylinder.h>
Public Types | |
| typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
| typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
| typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
| typedef boost::shared_ptr < SampleConsensusModelCylinder > | Ptr |
Public Member Functions | |
| 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. The cylinder coefficients are: point_on_axis, axis_direction, cylinder_radius_R. | |
| bool | doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, double threshold) |
| Verify whether a subset of indices verifies the given cylinder model coefficients. | |
| Eigen::Vector3f | getAxis () |
| Get the axis along which we need to search for a cylinder direction. | |
| void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
| Compute all distances from the cloud data to a given cylinder model. | |
| double | getEpsAngle () |
| Get the angle epsilon (delta) threshold. | |
| pcl::SacModel | getModelType () const |
| Return an unique id for this model (SACMODEL_CYLINDER). | |
| void | getSamples (int &iterations, std::vector< int > &samples) |
| Get 2 random points with their normals as data samples and return them as point indices. | |
| 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. | |
| SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
| Constructor for base SampleConsensusModelCylinder. | |
| SampleConsensusModelCylinder (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModelCylinder. | |
| void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, double threshold, std::vector< int > &inliers) |
| Select all the points which respect the given model coefficients as inliers. | |
| void | setAxis (const Eigen::Vector3f &ax) |
| Set the axis along which we need to search for a cylinder direction. | |
| void | setEpsAngle (double ea) |
| Set the angle epsilon (delta) threshold. | |
Protected Member Functions | |
| std::string | getName () const |
| Get a string representation of the name of this class. | |
| bool | isModelValid (const Eigen::VectorXf &model_coefficients) |
| Check whether a model is valid given the user constraints. | |
| double | pointToLineDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) |
| Get the distance from a point to a line (represented by a point and a direction). | |
| void | projectPointToCylinder (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) |
| Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R). | |
| void | projectPointToLine (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, Eigen::Vector4f &pt_proj) |
| Project a point onto a line given by a point and a direction vector. | |
Static Private 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 | |
| Eigen::Vector3f | axis_ |
| The axis along which we need to search for a plane perpendicular to. | |
| double | eps_angle_ |
| The maximum allowed difference between the plane normal and the given axis. | |
| const std::vector< int > * | tmp_inliers_ |
| temporary pointer to a list of given indices for optimizeModelCoefficients () | |
| boost::mutex | tmp_mutex_ |
| Temporary boost mutex for tmp_inliers_. | |
Static Private Attributes | |
| static const int | MAX_ITERATIONS_COLLINEAR = 1000 |
| Define the maximum number of iterations for collinearity checks. | |
SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
Definition at line 54 of file sac_model_cylinder.h.
| typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloud |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 64 of file sac_model_cylinder.h.
| typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 66 of file sac_model_cylinder.h.
| typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 65 of file sac_model_cylinder.h.
| typedef boost::shared_ptr<SampleConsensusModelCylinder> pcl::SampleConsensusModelCylinder< PointT, PointNT >::Ptr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 68 of file sac_model_cylinder.h.
| pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelCylinder.
| cloud | the input point cloud dataset |
Definition at line 73 of file sac_model_cylinder.h.
| pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder | ( | const PointCloudConstPtr & | cloud, | |
| const std::vector< int > & | indices | |||
| ) | [inline] |
Constructor for base SampleConsensusModelCylinder.
| cloud | the input point cloud dataset | |
| indices | a vector of point indices to be used from cloud |
Definition at line 82 of file sac_model_cylinder.h.
| bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::computeModelCoefficients | ( | const std::vector< int > & | samples, | |
| Eigen::VectorXf & | model_coefficients | |||
| ) | [inline, 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.
| samples | the point indices found as possible good candidates for creating a valid model | |
| model_coefficients | the resultant model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 96 of file sac_model_cylinder.hpp.
| bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::doSamplesVerifyModel | ( | const std::set< int > & | indices, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| double | threshold | |||
| ) | [inline, virtual] |
Verify whether a subset of indices verifies the given cylinder model coefficients.
| indices | the data indices that need to be tested against the cylinder model | |
| model_coefficients | the cylinder model coefficients | |
| threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 453 of file sac_model_cylinder.hpp.
| int pcl::SampleConsensusModelCylinder< PointT, PointNT >::functionToOptimize | ( | void * | p, | |
| int | m, | |||
| int | n, | |||
| const double * | x, | |||
| double * | fvec, | |||
| int | iflag | |||
| ) | [inline, static, private] |
Cost function to be minimized.
| 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.hpp.
| Eigen::Vector3f pcl::SampleConsensusModelCylinder< PointT, PointNT >::getAxis | ( | ) | [inline] |
Get the axis along which we need to search for a cylinder direction.
Definition at line 101 of file sac_model_cylinder.h.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, | |
| std::vector< double > & | distances | |||
| ) | [inline, virtual] |
Compute all distances from the cloud data to a given cylinder model.
| model_coefficients | the coefficients of a cylinder model that we need to compute distances to | |
| distances | the resultant estimated distances |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 161 of file sac_model_cylinder.hpp.
| double pcl::SampleConsensusModelCylinder< PointT, PointNT >::getEpsAngle | ( | ) | [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 93 of file sac_model_cylinder.h.
| pcl::SacModel pcl::SampleConsensusModelCylinder< PointT, PointNT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_CYLINDER).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 157 of file sac_model_cylinder.h.
| std::string pcl::SampleConsensusModelCylinder< PointT, PointNT >::getName | ( | ) | const [inline, protected] |
Get a string representation of the name of this class.
Definition at line 190 of file sac_model_cylinder.h.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::getSamples | ( | int & | iterations, | |
| std::vector< int > & | samples | |||
| ) | [inline, virtual] |
Get 2 random points with their normals as data samples and return them as point indices.
| iterations | the internal number of iterations used by SAC methods | |
| samples | the resultant model samples |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 51 of file sac_model_cylinder.hpp.
| bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::isModelValid | ( | const Eigen::VectorXf & | model_coefficients | ) | [inline, protected, virtual] |
Check whether a model is valid given the user constraints.
| model_coefficients | the set of model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 519 of file sac_model_cylinder.hpp.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::optimizeModelCoefficients | ( | const std::vector< int > & | inliers, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| Eigen::VectorXf & | optimized_coefficients | |||
| ) | [inline, virtual] |
Recompute the cylinder coefficients using the given inlier set and return them to the user.
| inliers | the data inliers found as supporting the model | |
| model_coefficients | the initial guess for the optimization | |
| optimized_coefficients | the resultant recomputed coefficients after non-linear optimization |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 277 of file sac_model_cylinder.hpp.
| double pcl::SampleConsensusModelCylinder< PointT, PointNT >::pointToLineDistance | ( | const Eigen::Vector4f & | pt, | |
| const Eigen::VectorXf & | model_coefficients | |||
| ) | [inline, protected] |
Get the distance from a point to a line (represented by a point and a direction).
| pt | a point | |
| model_coefficients | the line coefficients (a point on the line, line direction) |
Definition at line 482 of file sac_model_cylinder.hpp.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPoints | ( | const std::vector< int > & | inliers, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| PointCloud & | projected_points, | |||
| bool | copy_data_fields = true | |||
| ) | [inline, virtual] |
Create a new point cloud with inliers projected onto the cylinder model.
| 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 | |
| copy_data_fields | set to true if we need to copy the other data fields |
| 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 | |
| copy_data_fields | set to true if we need to copy the other data fields |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 368 of file sac_model_cylinder.hpp.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPointToCylinder | ( | const Eigen::Vector4f & | pt, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| Eigen::Vector4f & | pt_proj | |||
| ) | [inline, protected] |
Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R).
| pt | the input point to project | |
| model_coefficients | the coefficients of the cylinder (point_on_axis, axis_direction, cylinder_radius_R) | |
| pt_proj | the resultant projected point |
Definition at line 498 of file sac_model_cylinder.hpp.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPointToLine | ( | const Eigen::Vector4f & | pt, | |
| const Eigen::Vector4f & | line_pt, | |||
| const Eigen::Vector4f & | line_dir, | |||
| Eigen::Vector4f & | pt_proj | |||
| ) | [inline, protected] |
Project a point onto a line given by a point and a direction vector.
| pt | the input point to project | |
| line_pt | the point on the line (make sure that line_pt[3] = 0 as there are no internal checks!) | |
| line_dir | the direction of the line (make sure that line_dir[3] = 0 as there are no internal checks!) | |
| pt_proj | the resultant projected point |
Definition at line 173 of file sac_model_cylinder.h.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::selectWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, | |
| double | threshold, | |||
| std::vector< int > & | inliers | |||
| ) | [inline, virtual] |
Select all the points which respect the given model coefficients as inliers.
| 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 |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 216 of file sac_model_cylinder.hpp.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::setAxis | ( | const Eigen::Vector3f & | ax | ) | [inline] |
Set the axis along which we need to search for a cylinder direction.
| ax | the axis along which we need to search for a cylinder direction |
Definition at line 98 of file sac_model_cylinder.h.
| void pcl::SampleConsensusModelCylinder< PointT, PointNT >::setEpsAngle | ( | double | ea | ) | [inline] |
Set the angle epsilon (delta) threshold.
| ea | the maximum allowed difference between the cyilinder axis and the given axis. |
Definition at line 90 of file sac_model_cylinder.h.
Eigen::Vector3f pcl::SampleConsensusModelCylinder< PointT, PointNT >::axis_ [private] |
The axis along which we need to search for a plane perpendicular to.
Definition at line 200 of file sac_model_cylinder.h.
double pcl::SampleConsensusModelCylinder< PointT, PointNT >::eps_angle_ [private] |
The maximum allowed difference between the plane normal and the given axis.
Definition at line 203 of file sac_model_cylinder.h.
const int pcl::SampleConsensusModelCylinder< PointT, PointNT >::MAX_ITERATIONS_COLLINEAR = 1000 [static, private] |
Define the maximum number of iterations for collinearity checks.
Definition at line 212 of file sac_model_cylinder.h.
const std::vector<int>* pcl::SampleConsensusModelCylinder< PointT, PointNT >::tmp_inliers_ [private] |
temporary pointer to a list of given indices for optimizeModelCoefficients ()
Definition at line 209 of file sac_model_cylinder.h.
boost::mutex pcl::SampleConsensusModelCylinder< PointT, PointNT >::tmp_mutex_ [private] |
Temporary boost mutex for tmp_inliers_.
Definition at line 206 of file sac_model_cylinder.h.
