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>
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) | |
| Constructor for base SampleConsensusModelNormalSphere. | |
| SampleConsensusModelNormalSphere (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
| 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. | |
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
Definition at line 68 of file sac_model_normal_sphere.h.
Member Typedef Documentation
| typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::PointCloud |
Reimplemented from pcl::SampleConsensusModelSphere< PointT >.
Definition at line 79 of file sac_model_normal_sphere.h.
| typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModelSphere< PointT >.
Definition at line 81 of file sac_model_normal_sphere.h.
| typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::PointCloudNConstPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 84 of file sac_model_normal_sphere.h.
| typedef SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNPtr pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::PointCloudNPtr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 83 of file sac_model_normal_sphere.h.
| typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModelSphere< PointT >.
Definition at line 80 of file sac_model_normal_sphere.h.
| typedef boost::shared_ptr<SampleConsensusModelNormalSphere> pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::Ptr |
Reimplemented from pcl::SampleConsensusModelFromNormals< PointT, PointNT >.
Definition at line 86 of file sac_model_normal_sphere.h.
Constructor & Destructor Documentation
| pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::SampleConsensusModelNormalSphere | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelNormalSphere.
- Parameters:
-
[in] cloud the input point cloud dataset
Definition at line 91 of file sac_model_normal_sphere.h.
| pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::SampleConsensusModelNormalSphere | ( | const PointCloudConstPtr & | cloud, |
| const std::vector< int > & | indices | ||
| ) | [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
Definition at line 99 of file sac_model_normal_sphere.h.
Member Function Documentation
| 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 104 of file sac_model_normal_sphere.hpp.
| 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 154 of file sac_model_normal_sphere.hpp.
| 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 132 of file sac_model_normal_sphere.h.
| 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 204 of file sac_model_normal_sphere.hpp.
| 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 47 of file sac_model_normal_sphere.hpp.
The documentation for this class was generated from the following files: