sample_consensus::SACModelLine Class Reference

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

#include <sac_model_line.h>

Inheritance diagram for sample_consensus::SACModelLine:

Public Member Functions
void	computeCentroid (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, geometry_msgs::Point32 &centroid)
	Compute the centroid of a set of points using their indices and return it as a Point32 message.
void	computeCovarianceMatrix (const sensor_msgs::PointCloud &points, const std::vector< int > &indices, Eigen::Matrix3d &covariance_matrix, geometry_msgs::Point32 &centroid)
	Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d.
virtual bool	computeModelCoefficients (const std::vector< int > &samples)
	Check whether the given index samples can form a valid line model, compute the model coefficients from these samples and store them internally in model_coefficients_. The line coefficients are represented by the points themselves.
geometry_msgs::Point32	cross (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
	Compute the cross product between two points (vectors).
virtual bool	doSamplesVerifyModel (const std::set< int > &indices, double threshold)
	Verify whether a subset of indices verifies the internal line 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 line model.
virtual int	getModelType ()
	Return an unique id for this model (SACMODEL_LINE).
virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get 2 random 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 line model.
virtual void	projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)
	Project inliers (in place) onto the given line model.
virtual void	refitModel (const std::vector< int > &inliers, std::vector< double > &refit_coefficients)
	Recompute the line coefficients using the given inlier set and return them to the user.
	SACModelLine ()
	Constructor for base SACModelLine.
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	~SACModelLine ()
	Destructor for base SACModelLine.

Detailed Description

A Sample Consensus Model class for 3D line segmentation.

Definition at line 46 of file sac_model_line.h.

Constructor & Destructor Documentation

sample_consensus::SACModelLine::SACModelLine ( ) [inline]

Constructor for base SACModelLine.

Definition at line 51 of file sac_model_line.h.

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

Destructor for base SACModelLine.

Definition at line 55 of file sac_model_line.h.

Member Function Documentation

void sample_consensus::SACModelLine::computeCentroid	(	const sensor_msgs::PointCloud &	points,
		const std::vector< int > &	indices,
		geometry_msgs::Point32 &	centroid
	)			`[inline]`

Compute the centroid of a set of points using their indices and return it as a Point32 message.

Parameters:

	points	the input point cloud
	indices	the point cloud indices that need to be used
	centroid	the output centroid

Definition at line 103 of file sac_model_line.h.

void sample_consensus::SACModelLine::computeCovarianceMatrix	(	const sensor_msgs::PointCloud &	points,
		const std::vector< int > &	indices,
		Eigen::Matrix3d &	covariance_matrix,
		geometry_msgs::Point32 &	centroid
	)			`[inline]`

Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d.

Note:: The (x-y-z) centroid is also returned as a Point32 message.

Parameters:

	points	the input point cloud
	indices	the point cloud indices that need to be used
	covariance_matrix	the 3x3 covariance matrix
	centroid	the computed centroid

Definition at line 129 of file sac_model_line.h.

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

Check whether the given index samples can form a valid line model, compute the model coefficients from these samples and store them internally in model_coefficients_. The line coefficients are represented by the points themselves.

Parameters:

samples

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

Implements sample_consensus::SACModel.

Definition at line 238 of file sac_model_line.cpp.

geometry_msgs::Point32 sample_consensus::SACModelLine::cross	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)			`[inline]`

Compute the cross product between two points (vectors).

Parameters:

	p1	the first point/vector
	p2	the second point/vector

Definition at line 87 of file sac_model_line.h.

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

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

Parameters:

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

Implements sample_consensus::SACModel.

Definition at line 296 of file sac_model_line.cpp.

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

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

Parameters:

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

Implements sample_consensus::SACModel.

Definition at line 134 of file sac_model_line.cpp.

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

Return an unique id for this model (SACMODEL_LINE).

Implements sample_consensus::SACModel.

Definition at line 79 of file sac_model_line.h.

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

Get 2 random 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 46 of file sac_model_line.cpp.

void sample_consensus::SACModelLine::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 line model.

Parameters:

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

Implements sample_consensus::SACModel.

Definition at line 166 of file sac_model_line.cpp.

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

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

Parameters:

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

Implements sample_consensus::SACModel.

Definition at line 209 of file sac_model_line.cpp.

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

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

Note:: : these are the coefficients of the line model after refinement

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 258 of file sac_model_line.cpp.

void sample_consensus::SACModelLine::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 line 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:: : To get the refined inliers of a model, use: ANNpoint refined_coeff = refitModel (...); selectWithinDistance (refined_coeff, threshold);

Implements sample_consensus::SACModel.

Definition at line 84 of file sac_model_line.cpp.

bool sample_consensus::SACModelLine::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_line.h.

The documentation for this class was generated from the following files:

sample_consensus::SACModelLine Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation