SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. The model coefficients are defined as: More...

#include <sac_model_cylinder.h>

Inheritance diagram for pcl::SampleConsensusModelCylinder< PointT, PointNT >:

[legend]

List of all members.

Classes
struct	OptimizationFunctor
	Functor for the optimization function. More...
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.
virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers.
bool	doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const 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).
SampleConsensusModelCylinder &	operator= (const SampleConsensusModelCylinder &source)
	Copy constructor.
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, bool random=false)
	Constructor for base SampleConsensusModelCylinder.
	SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelCylinder.
	SampleConsensusModelCylinder (const SampleConsensusModelCylinder &source)
	Copy constructor.
void	selectWithinDistance (const Eigen::VectorXf &model_coefficients, const 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 (const double ea)
	Set the angle epsilon (delta) threshold.
virtual	~SampleConsensusModelCylinder ()
	Empty destructor.
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.
bool	isSampleGood (const std::vector< int > &samples) const
	Check if a sample of indices results in a good sample of points indices. Pure virtual.
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.
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 ()

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelCylinder< PointT, PointNT >

SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. The model coefficients are defined as:

point_on_axis.x : the X coordinate of a point located on the cylinder axis
point_on_axis.y : the Y coordinate of a point located on the cylinder axis
point_on_axis.z : the Z coordinate of a point located on the cylinder axis
axis_direction.x : the X coordinate of the cylinder's axis direction
axis_direction.y : the Y coordinate of the cylinder's axis direction
axis_direction.z : the Z coordinate of the cylinder's axis direction
radius : the cylinder's radius

Author:: Radu Bogdan Rusu

Definition at line 65 of file sac_model_cylinder.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloud

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 76 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 78 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 77 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<SampleConsensusModelCylinder> pcl::SampleConsensusModelCylinder< PointT, PointNT >::Ptr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 80 of file sac_model_cylinder.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder	(	const PointCloudConstPtr &	cloud,
		bool	random = `false`
	)		`[inline]`

Constructor for base SampleConsensusModelCylinder.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 86 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices,
		bool	random = `false`
	)		`[inline]`

Constructor for base SampleConsensusModelCylinder.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	indices	a vector of point indices to be used from cloud
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 100 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder ( const SampleConsensusModelCylinder< PointT, PointNT > & source ) [inline]

Copy constructor.

Parameters:

[in] source the model to copy into this

Definition at line 114 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

virtual pcl::SampleConsensusModelCylinder< PointT, PointNT >::~SampleConsensusModelCylinder ( ) [inline, virtual]

Empty destructor.

Definition at line 125 of file sac_model_cylinder.h.

Member Function Documentation

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::computeModelCoefficients	(	const std::vector< int > &	samples,
		Eigen::VectorXf &	model_coefficients
	)		`[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.

Parameters:

[in]	samples	the point indices found as possible good candidates for creating a valid model
[out]	model_coefficients	the resultant model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 57 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >

int pcl::SampleConsensusModelCylinder< PointT, PointNT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		`[virtual]`

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

Parameters:

[in]	model_coefficients	the coefficients of a model that we need to compute distances to
[in]	threshold	maximum admissible distance threshold for determining the inliers from the outliers

Returns:: the resultant number of inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 226 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::doSamplesVerifyModel	(	const std::set< int > &	indices,
		const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		`[virtual]`

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

Parameters:

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 391 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>

Eigen::Vector3f pcl::SampleConsensusModelCylinder< PointT, PointNT >::getAxis ( ) [inline]

Get the axis along which we need to search for a cylinder direction.

Definition at line 158 of file sac_model_cylinder.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCylinder< PointT, PointNT >::getDistancesToModel	(	const Eigen::VectorXf &	model_coefficients,
		std::vector< double > &	distances
	)		`[virtual]`

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

Parameters:

[in]	model_coefficients	the coefficients of a cylinder model that we need to compute distances to
[out]	distances	the resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 131 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelCylinder< PointT, PointNT >::getEpsAngle ( ) [inline]

Get the angle epsilon (delta) threshold.

Definition at line 148 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

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 234 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

std::string pcl::SampleConsensusModelCylinder< PointT, PointNT >::getName ( ) const [inline, protected]

Get a string representation of the name of this class.

Definition at line 274 of file sac_model_cylinder.h.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::isModelValid ( const Eigen::VectorXf & model_coefficients ) [protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:

[in] model_coefficients the set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 444 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::isSampleGood ( const std::vector< int > & samples ) const [protected, virtual]

Check if a sample of indices results in a good sample of points indices. Pure virtual.

Parameters:

[in] samples the resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 50 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>

SampleConsensusModelCylinder& pcl::SampleConsensusModelCylinder< PointT, PointNT >::operator= ( const SampleConsensusModelCylinder< PointT, PointNT > & source ) [inline]

Copy constructor.

Parameters:

[in] source the model to copy into this

Definition at line 131 of file sac_model_cylinder.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCylinder< PointT, PointNT >::optimizeModelCoefficients	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_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:

[in]	inliers	the data inliers found as supporting the model
[in]	model_coefficients	the initial guess for the optimization
[out]	optimized_coefficients	the resultant recomputed coefficients after non-linear optimization

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 266 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >

double pcl::SampleConsensusModelCylinder< PointT, PointNT >::pointToLineDistance	(	const Eigen::Vector4f &	pt,
		const Eigen::VectorXf &	model_coefficients
	)		`[protected]`

Get the distance from a point to a line (represented by a point and a direction)

Parameters:

[in]	pt	a point
[in]	model_coefficients	the line coefficients (a point on the line, line direction)

Definition at line 416 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPoints	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		PointCloud &	projected_points,
		bool	copy_data_fields = `true`
	)		`[virtual]`

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

Parameters:

[in]	inliers	the data inliers that we want to project on the cylinder model
[in]	model_coefficients	the coefficients of a cylinder model
[out]	projected_points	the resultant projected points
[in]	copy_data_fields	set to true if we need to copy the other data fields

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 305 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPointToCylinder	(	const Eigen::Vector4f &	pt,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::Vector4f &	pt_proj
	)		`[protected]`

Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R)

Parameters:

[in]	pt	the input point to project
[in]	model_coefficients	the coefficients of the cylinder (point_on_axis, axis_direction, cylinder_radius_R)
[out]	pt_proj	the resultant projected point

Definition at line 426 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>

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.

Parameters:

[in]	pt	the input point to project
[in]	line_pt	the point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
[in]	line_dir	the direction of the line (make sure that line_dir[3] = 0 as there are no internal checks!)
[out]	pt_proj	the resultant projected point

Definition at line 251 of file sac_model_cylinder.h.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCylinder< PointT, PointNT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		std::vector< int > &	inliers
	)		`[virtual]`

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

Parameters:

[in]	model_coefficients	the coefficients of a cylinder model that we need to compute distances to
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers
[out]	inliers	the resultant model inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 174 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelCylinder< PointT, PointNT >::setAxis ( const Eigen::Vector3f & ax ) [inline]

Set the axis along which we need to search for a cylinder direction.

Parameters:

[in] ax the axis along which we need to search for a cylinder direction

Definition at line 154 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelCylinder< PointT, PointNT >::setEpsAngle ( const double ea ) [inline]

Set the angle epsilon (delta) threshold.

Parameters:

[in] ea the maximum allowed difference between the cyilinder axis and the given axis.

Definition at line 144 of file sac_model_cylinder.h.

Member Data Documentation

template<typename PointT, typename PointNT>

Eigen::Vector3f pcl::SampleConsensusModelCylinder< PointT, PointNT >::axis_ [private]

The axis along which we need to search for a plane perpendicular to.

Definition at line 292 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelCylinder< PointT, PointNT >::eps_angle_ [private]

The maximum allowed difference between the plane normal and the given axis.

Definition at line 295 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>

const std::vector<int>* pcl::SampleConsensusModelCylinder< PointT, PointNT >::tmp_inliers_ [private]

temporary pointer to a list of given indices for optimizeModelCoefficients ()

Definition at line 298 of file sac_model_cylinder.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

template<typename PointT, typename PointNT> class pcl::SampleConsensusModelCylinder< PointT, PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelCylinder< PointT, PointNT >