SampleConsensusModelCone defines a model for 3D cone segmentation. The model coefficients are defined as: More...

#include <sac_model_cone.h>

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

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 < SampleConsensusModelCone >	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 cone model, compute the model coefficients from these samples and store them in model_coefficients. The cone coefficients are: apex, axis_direction, opening_angle.
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 cone model coefficients.
Eigen::Vector3f	getAxis () const
	Get the axis along which we need to search for a cone direction.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given cone model.
double	getEpsAngle () const
	Get the angle epsilon (delta) threshold.
void	getMinMaxOpeningAngle (double &min_angle, double &max_angle) const
	Get the opening angle which we need minumum to validate a cone model.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_CONE).
SampleConsensusModelCone &	operator= (const SampleConsensusModelCone &source)
	Copy constructor.
void	optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
	Recompute the cone 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 cone model.
	SampleConsensusModelCone (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelCone.
	SampleConsensusModelCone (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelCone.
	SampleConsensusModelCone (const SampleConsensusModelCone &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 cone direction.
void	setEpsAngle (double ea)
	Set the angle epsilon (delta) threshold.
void	setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
	Set the minimum and maximum allowable opening angle for a cone model given from a user.
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	pointToAxisDistance (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)
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.
double	max_angle_
double	min_angle_
	The minimum and maximum allowed opening angles of valid cone model.
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::SampleConsensusModelCone< PointT, PointNT >

SampleConsensusModelCone defines a model for 3D cone segmentation. The model coefficients are defined as:

apex.x : the X coordinate of cone's apex
apex.y : the Y coordinate of cone's apex
apex.z : the Z coordinate of cone's apex
axis_direction.x : the X coordinate of the cone's axis direction
axis_direction.y : the Y coordinate of the cone's axis direction
axis_direction.z : the Z coordinate of the cone's axis direction
opening_angle : the cone's opening angle

Author:: Stefan Schrandt

Definition at line 66 of file sac_model_cone.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 76 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 78 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 77 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 80 of file sac_model_cone.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone ( const PointCloudConstPtr & cloud ) [inline]

Constructor for base SampleConsensusModelCone.

Parameters:

[in] cloud the input point cloud dataset

Definition at line 85 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices
	)		`[inline]`

Constructor for base SampleConsensusModelCone.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	indices	a vector of point indices to be used from cloud

Definition at line 95 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Copy constructor.

Parameters:

[in] source the model to copy into this

Definition at line 105 of file sac_model_cone.h.

Member Function Documentation

template<typename PointT , typename PointNT >

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

Check whether the given index samples can form a valid cone model, compute the model coefficients from these samples and store them in model_coefficients. The cone coefficients are: apex, axis_direction, opening_angle.

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 54 of file sac_model_cone.hpp.

template<typename PointT , typename PointNT >

int pcl::SampleConsensusModelCone< 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 249 of file sac_model_cone.hpp.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< 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 cone model coefficients.

Parameters:

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 432 of file sac_model_cone.hpp.

template<typename PointT, typename PointNT>

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

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

Definition at line 144 of file sac_model_cone.h.

template<typename PointT , typename PointNT >

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

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

Parameters:

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 136 of file sac_model_cone.hpp.

template<typename PointT, typename PointNT>

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

Get the angle epsilon (delta) threshold.

Definition at line 134 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelCone< PointT, PointNT >::getMinMaxOpeningAngle	(	double &	min_angle,
		double &	max_angle
	)		const `[inline]`

Get the opening angle which we need minumum to validate a cone model.

Parameters:

[out]	min_angle	the minimum allwoable opening angle of a cone model
[out]	max_angle	the maximum allwoable opening angle of a cone model

Definition at line 163 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Return an unique id for this model (SACMODEL_CONE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 244 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Get a string representation of the name of this class.

Definition at line 256 of file sac_model_cone.h.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< 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 485 of file sac_model_cone.hpp.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< 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 47 of file sac_model_cone.hpp.

template<typename PointT, typename PointNT>

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

Copy constructor.

Parameters:

[in] source the model to copy into this

Definition at line 115 of file sac_model_cone.h.

template<typename PointT , typename PointNT >

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

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

Note:: : these are the coefficients of the cone 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 303 of file sac_model_cone.hpp.

template<typename PointT , typename PointNT >

double pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance	(	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 475 of file sac_model_cone.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< 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 cone model.

Parameters:

[in]	inliers	the data inliers that we want to project on the cone model
[in]	model_coefficients	the coefficients of a cone 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 336 of file sac_model_cone.hpp.

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< 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 cone 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 188 of file sac_model_cone.hpp.

template<typename PointT, typename PointNT>

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

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

Parameters:

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

Definition at line 140 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Set the angle epsilon (delta) threshold.

Parameters:

[in] ea the maximum allowed difference between the cone's axis and the given axis.

Definition at line 130 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

void pcl::SampleConsensusModelCone< PointT, PointNT >::setMinMaxOpeningAngle	(	const double &	min_angle,
		const double &	max_angle
	)		`[inline]`

Set the minimum and maximum allowable opening angle for a cone model given from a user.

Parameters:

[in]	min_angle	the minimum allwoable opening angle of a cone model
[in]	max_angle	the maximum allwoable opening angle of a cone model

Definition at line 152 of file sac_model_cone.h.

Member Data Documentation

template<typename PointT, typename PointNT>

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

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

Definition at line 274 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

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

Definition at line 277 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelCone< PointT, PointNT >::max_angle_ [private]

Definition at line 281 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelCone< PointT, PointNT >::min_angle_ [private]

The minimum and maximum allowed opening angles of valid cone model.

Definition at line 280 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

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

Definition at line 284 of file sac_model_cone.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::SampleConsensusModelCone< PointT, PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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