SampleConsensusModelNormalSphere defines a model for 3D sphere segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the sphere's normal and the inlier points normals. More...

#include <sac_model_normal_sphere.h>

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

[legend]

List of all members.

Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNConstPtr	PointCloudNConstPtr
typedef SampleConsensusModelFromNormals < PointT, PointNT > ::PointCloudNPtr	PointCloudNPtr
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelNormalSphere >	Ptr
Public Member Functions
virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given sphere model.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_NORMAL_SPHERE).
	SampleConsensusModelNormalSphere (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelNormalSphere.
	SampleConsensusModelNormalSphere (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelNormalSphere.
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.
virtual	~SampleConsensusModelNormalSphere ()
	Empty destructor.
Protected Member Functions
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.

Detailed Description

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

SampleConsensusModelNormalSphere defines a model for 3D sphere segmentation using additional surface normal constraints. Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the sphere's normal and the inlier points normals.

The model coefficients are defined as:

a : the X coordinate of the plane's normal (normalized)
b : the Y coordinate of the plane's normal (normalized)
c : the Z coordinate of the plane's normal (normalized)
d : radius of the sphere

Author:: Stefan Schrandt

Definition at line 69 of file sac_model_normal_sphere.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 80 of file sac_model_normal_sphere.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 82 of file sac_model_normal_sphere.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::PointCloudNConstPtr

Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.

Definition at line 85 of file sac_model_normal_sphere.h.

template<typename PointT, typename PointNT>

typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::PointCloudNPtr

Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.

Definition at line 84 of file sac_model_normal_sphere.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 81 of file sac_model_normal_sphere.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.

Definition at line 87 of file sac_model_normal_sphere.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

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

Constructor for base SampleConsensusModelNormalSphere.

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 93 of file sac_model_normal_sphere.h.

template<typename PointT, typename PointNT>

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

Constructor for base SampleConsensusModelNormalSphere.

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 105 of file sac_model_normal_sphere.h.

template<typename PointT, typename PointNT>

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

Empty destructor.

Definition at line 114 of file sac_model_normal_sphere.h.

Member Function Documentation

template<typename PointT , typename PointNT >

int pcl::SampleConsensusModelNormalSphere< 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

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 110 of file sac_model_normal_sphere.hpp.

template<typename PointT , typename PointNT >

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

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

Parameters:

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

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 160 of file sac_model_normal_sphere.hpp.

template<typename PointT, typename PointNT>

pcl::SacModel pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::getModelType ( ) const [inline, virtual]

Return an unique id for this model (SACMODEL_NORMAL_SPHERE).

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 145 of file sac_model_normal_sphere.h.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelNormalSphere< 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

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 210 of file sac_model_normal_sphere.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelNormalSphere< 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 sphere 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

Reimplemented from pcl::SampleConsensusModelSphere< PointT >.

Definition at line 48 of file sac_model_normal_sphere.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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