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 PointCloud &points, const std::vector< int > &indices, pcl::PointXYZ &centroid)
	Compute the centroid of a set of points using their indices and return it as a Point32 message. More...

void	computeCovarianceMatrix (const PointCloud &points, const std::vector< int > &indices, Eigen::Matrix3d &covariance_matrix, pcl::PointXYZ &centroid)
	Compute the 3x3 covariance matrix of a given set of points using their indices. The result is returned as a Eigen::Matrix3d. More...

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. More...

pcl::PointXYZ	cross (const pcl::PointXYZ &p1, const pcl::PointXYZ &p2)
	Compute the cross product between two points (vectors). More...

virtual bool	doSamplesVerifyModel (const std::set< int > &indices, double threshold)
	Verify whether a subset of indices verifies the internal line model coefficients. More...

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. More...

virtual int	getModelType ()
	Return an unique id for this model (SACMODEL_LINE). More...

virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get 2 random points as data samples and return them as point indices. More...

virtual void	projectPoints (const std::vector< int > &inliers, const std::vector< double > &model_coefficients, PointCloud &projected_points)
	Create a new point cloud with inliers projected onto the line model. More...

virtual void	projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)
	Project inliers (in place) onto the given line model. More...

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. More...

	SACModelLine ()
	Constructor for base SACModelLine. More...

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. More...

bool	testModelCoefficients (const std::vector< double > &model_coefficients)
	Test whether the given model coefficients are valid given the input point cloud data. More...

virtual	~SACModelLine ()
	Destructor for base SACModelLine. More...

Public Member Functions inherited from sample_consensus::SACModel
std::vector< int >	getBestInliers ()
	Return the best set of inliers found so far for this model. More...

std::vector< int >	getBestModel ()
	Return the best model found so far. More...

PointCloud *	getCloud ()
	Return a pointer to the point cloud data. More...

std::vector< int > *	getIndices ()
	Return a pointer to the point cloud data indices. More...

std::vector< double >	getModelCoefficients ()
	Return the model coefficients of the best model found so far. More...

virtual int	removeInliers ()
	Remove the inliers found from the initial set of given point indices. More...

	SACModel ()
	Constructor for base SACModel. More...

	SACModel (PointCloud cloud)

void	setBestInliers (const std::vector< int > &best_inliers)
	Set the best set of inliers. Used by SAC methods. Do not call this except if you know what you're doing. More...

void	setBestModel (std::vector< int > best_model)
	Set the best model. Used by SAC methods. Do not call this except if you know what you're doing. More...

void	setDataIndices (std::vector< int > indices)
	Set the indices. More...

void	setDataSet (PointCloud *cloud)
	Set the dataset. More...

void	setDataSet (PointCloud *cloud, std::vector< int > indices)
	Set the dataset and indices. More...

virtual	~SACModel ()
	Destructor for base SACModel. More...

Additional Inherited Members
Protected Attributes inherited from sample_consensus::SACModel
std::vector< int >	best_inliers_
	The indices of the points that were chosen as inliers after the last computeModel () call. More...

std::vector< int >	best_model_
	The model found after the last computeModel () as pointcloud indices. More...

PointCloud *	cloud_
	Holds a pointer to the point cloud data array, since we don't want to copy the whole thing here. More...

std::vector< int >	indices_
	The list of internal point indices used. More...

std::vector< double >	model_coefficients_
	The coefficients of our model computed directly from the best samples found. More...

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 ( )

inlinevirtual

Destructor for base SACModelLine.

Definition at line 55 of file sac_model_line.h.

Member Function Documentation

void sample_consensus::SACModelLine::computeCentroid	(	const PointCloud &	points,
		const std::vector< int > &	indices,
		pcl::PointXYZ &	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 PointCloud &	points,
		const std::vector< int > &	indices,
		Eigen::Matrix3d &	covariance_matrix,
		pcl::PointXYZ &	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 234 of file sac_model_line.cpp.

pcl::PointXYZ sample_consensus::SACModelLine::cross	(	const pcl::PointXYZ &	p1,
		const pcl::PointXYZ &	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 292 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 140 of file sac_model_line.cpp.

virtual int sample_consensus::SACModelLine::getModelType ( )

inlinevirtual

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 52 of file sac_model_line.cpp.

void sample_consensus::SACModelLine::projectPoints	(	const std::vector< int > &	inliers,
		const std::vector< double > &	model_coefficients,
		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 172 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 205 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 254 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 90 of file sac_model_line.cpp.

bool sample_consensus::SACModelLine::testModelCoefficients ( const std::vector< double > & model_coefficients )

inlinevirtual

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:

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation