SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints. The model coefficients are defined as: More...

#include <sac_model_parallel_line.h>

Inheritance diagram for pcl::SampleConsensusModelParallelLine< PointT >:

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List of all members.

Public Types
typedef SampleConsensusModelLine < PointT >::PointCloud	PointCloud
typedef SampleConsensusModelLine < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModelLine < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelParallelLine >	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.
Eigen::Vector3f	getAxis ()
	Get the axis along which we need to search for a plane perpendicular to.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all squared distances from the cloud data to a given line model.
double	getEpsAngle ()
	Get the angle epsilon (delta) threshold.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_PARALLEL_LINE).
	SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelParallelLine.
	SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelParallelLine.
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 plane perpendicular to.
void	setEpsAngle (const double ea)
	Set the angle epsilon (delta) threshold.
virtual	~SampleConsensusModelParallelLine ()
	Empty destructor.
Protected Member Functions
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.
Protected 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.

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelParallelLine< PointT >

SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints. The model coefficients are defined as:

point_on_line.x : the X coordinate of a point on the line
point_on_line.y : the Y coordinate of a point on the line
point_on_line.z : the Z coordinate of a point on the line
line_direction.x : the X coordinate of a line's direction
line_direction.y : the Y coordinate of a line's direction
line_direction.z : the Z coordinate of a line's direction

Author:: Radu B. Rusu

Definition at line 63 of file sac_model_parallel_line.h.

Member Typedef Documentation

template<typename PointT>

typedef SampleConsensusModelLine<PointT>::PointCloud pcl::SampleConsensusModelParallelLine< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModelLine< PointT >.

Definition at line 66 of file sac_model_parallel_line.h.

template<typename PointT>

typedef SampleConsensusModelLine<PointT>::PointCloudConstPtr pcl::SampleConsensusModelParallelLine< PointT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModelLine< PointT >.

Definition at line 68 of file sac_model_parallel_line.h.

template<typename PointT>

typedef SampleConsensusModelLine<PointT>::PointCloudPtr pcl::SampleConsensusModelParallelLine< PointT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModelLine< PointT >.

Definition at line 67 of file sac_model_parallel_line.h.

template<typename PointT>

typedef boost::shared_ptr<SampleConsensusModelParallelLine> pcl::SampleConsensusModelParallelLine< PointT >::Ptr

Reimplemented from pcl::SampleConsensusModelLine< PointT >.

Definition at line 70 of file sac_model_parallel_line.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Constructor for base SampleConsensusModelParallelLine.

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 76 of file sac_model_parallel_line.h.

template<typename PointT>

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

Constructor for base SampleConsensusModelParallelLine.

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 89 of file sac_model_parallel_line.h.

template<typename PointT>

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

Empty destructor.

Definition at line 99 of file sac_model_parallel_line.h.

Member Function Documentation

template<typename PointT >

int pcl::SampleConsensusModelParallelLine< PointT >::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::SampleConsensusModelLine< PointT >.

Definition at line 63 of file sac_model_parallel_line.hpp.

template<typename PointT>

Eigen::Vector3f pcl::SampleConsensusModelParallelLine< PointT >::getAxis ( ) [inline]

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

Definition at line 109 of file sac_model_parallel_line.h.

template<typename PointT >

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

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

Parameters:

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

Reimplemented from pcl::SampleConsensusModelLine< PointT >.

Definition at line 75 of file sac_model_parallel_line.hpp.

template<typename PointT>

double pcl::SampleConsensusModelParallelLine< PointT >::getEpsAngle ( ) [inline]

Get the angle epsilon (delta) threshold.

Definition at line 118 of file sac_model_parallel_line.h.

template<typename PointT>

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

Return an unique id for this model (SACMODEL_PARALLEL_LINE).

Reimplemented from pcl::SampleConsensusModelLine< PointT >.

Definition at line 150 of file sac_model_parallel_line.h.

template<typename PointT >

bool pcl::SampleConsensusModelParallelLine< PointT >::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::SampleConsensusModelLine< PointT >.

Definition at line 90 of file sac_model_parallel_line.hpp.

template<typename PointT >

void pcl::SampleConsensusModelParallelLine< PointT >::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 line 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::SampleConsensusModelLine< PointT >.

Definition at line 48 of file sac_model_parallel_line.hpp.

template<typename PointT>

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

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

Parameters:

[in] ax the axis along which we need to search for a plane perpendicular to

Definition at line 105 of file sac_model_parallel_line.h.

template<typename PointT>

void pcl::SampleConsensusModelParallelLine< PointT >::setEpsAngle ( const double ea ) [inline]

Set the angle epsilon (delta) threshold.

Parameters:

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

Definition at line 115 of file sac_model_parallel_line.h.

Member Data Documentation

template<typename PointT>

Eigen::Vector3f pcl::SampleConsensusModelParallelLine< PointT >::axis_ [protected]

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

Definition at line 161 of file sac_model_parallel_line.h.

template<typename PointT>

double pcl::SampleConsensusModelParallelLine< PointT >::eps_angle_ [protected]

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

Definition at line 164 of file sac_model_parallel_line.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::SampleConsensusModelParallelLine< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::SampleConsensusModelParallelLine< PointT >