SampleConsensusModelSphere defines a model for 3D sphere segmentation. The model coefficients are defined as: More...

#include <sac_model_sphere.h>

Inheritance diagram for pcl::SampleConsensusModelSphere< PointT >:

Classes
struct	OptimizationFunctor
Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelSphere >	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 sphere model, compute the model coefficients from these samples and store them internally in model_coefficients. The sphere coefficients are: x, y, z, 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 sphere model coefficients.
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_SPHERE).
SampleConsensusModelSphere &	operator= (const SampleConsensusModelSphere &source)
	Copy constructor.
void	optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
	Recompute the sphere 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 sphere model.
	SampleConsensusModelSphere (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelSphere.
	SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelSphere.
	SampleConsensusModelSphere (const SampleConsensusModelSphere &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.
virtual	~SampleConsensusModelSphere ()
	Empty destructor.
Protected Member Functions
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.
Private Attributes
const std::vector< int > *	tmp_inliers_
	Temporary pointer to a list of given indices for optimizeModelCoefficients ()

Detailed Description

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

SampleConsensusModelSphere defines a model for 3D sphere segmentation. The model coefficients are defined as:

center.x : the X coordinate of the sphere's center
center.y : the Y coordinate of the sphere's center
center.z : the Z coordinate of the sphere's center
radius : the sphere's radius

Author:: Radu B. Rusu

Definition at line 60 of file sac_model_sphere.h.

Member Typedef Documentation

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelSphere< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 69 of file sac_model_sphere.h.

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelSphere< PointT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 71 of file sac_model_sphere.h.

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelSphere< PointT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 70 of file sac_model_sphere.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 73 of file sac_model_sphere.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Constructor for base SampleConsensusModelSphere.

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 79 of file sac_model_sphere.h.

template<typename PointT>

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

Constructor for base SampleConsensusModelSphere.

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_sphere.h.

template<typename PointT>

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

Empty destructor.

Definition at line 96 of file sac_model_sphere.h.

template<typename PointT>

pcl::SampleConsensusModelSphere< PointT >::SampleConsensusModelSphere ( const SampleConsensusModelSphere< PointT > & source ) [inline]

Copy constructor.

Parameters:

[in] source the model to copy into this

Definition at line 101 of file sac_model_sphere.h.

Member Function Documentation

template<typename PointT >

bool pcl::SampleConsensusModelSphere< PointT >::computeModelCoefficients	(	const std::vector< int > &	samples,
		Eigen::VectorXf &	model_coefficients
	)		`[virtual]`

Check whether the given index samples can form a valid sphere model, compute the model coefficients from these samples and store them internally in model_coefficients. The sphere coefficients are: x, y, z, 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 56 of file sac_model_sphere.hpp.

template<typename PointT >

int pcl::SampleConsensusModelSphere< 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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 195 of file sac_model_sphere.hpp.

template<typename PointT >

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

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

Parameters:

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 282 of file sac_model_sphere.hpp.

template<typename PointT >

void pcl::SampleConsensusModelSphere< PointT >::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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 123 of file sac_model_sphere.hpp.

template<typename PointT>

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

Return an unique id for this model (SACMODEL_SPHERE).

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 191 of file sac_model_sphere.h.

template<typename PointT>

bool pcl::SampleConsensusModelSphere< PointT >::isModelValid ( const Eigen::VectorXf & model_coefficients ) [inline, 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 >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 198 of file sac_model_sphere.h.

template<typename PointT >

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

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

Parameters:

[in] samples the resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 49 of file sac_model_sphere.hpp.

template<typename PointT>

SampleConsensusModelSphere& pcl::SampleConsensusModelSphere< PointT >::operator= ( const SampleConsensusModelSphere< PointT > & source ) [inline]

Copy constructor.

Parameters:

[in] source the model to copy into this

Definition at line 111 of file sac_model_sphere.h.

template<typename PointT >

void pcl::SampleConsensusModelSphere< PointT >::optimizeModelCoefficients	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)		`[virtual]`

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

Note:: : these are the coefficients of the sphere 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 226 of file sac_model_sphere.hpp.

template<typename PointT >

void pcl::SampleConsensusModelSphere< PointT >::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 sphere model.

Parameters:

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

Todo:: implement this.

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 259 of file sac_model_sphere.hpp.

template<typename PointT >

void pcl::SampleConsensusModelSphere< 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 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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 152 of file sac_model_sphere.hpp.

Member Data Documentation

template<typename PointT>

const std::vector<int>* pcl::SampleConsensusModelSphere< PointT >::tmp_inliers_ [private]

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

Definition at line 224 of file sac_model_sphere.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> class pcl::SampleConsensusModelSphere< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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