SampleConsensusModelStick defines a model for 3D stick segmentation. A stick is a line with an user given minimum/maximum width. The model coefficients are defined as: More...
#include <sac_model_stick.h>
Public Types | |
typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
typedef boost::shared_ptr < SampleConsensusModelStick > | 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 stick model, compute the model coefficients from these samples and store them internally in model_coefficients_. The stick coefficients are represented by a point and a line direction. | |
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 stick model coefficients. | |
void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
Compute all squared distances from the cloud data to a given stick model. | |
pcl::SacModel | getModelType () const |
Return an unique id for this model (SACMODEL_STACK). | |
void | optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) |
Recompute the stick 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 stick model. | |
SampleConsensusModelStick (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModelStick. | |
SampleConsensusModelStick (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
Constructor for base SampleConsensusModelStick. | |
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. | |
bool | isSampleGood (const std::vector< int > &samples) const |
Check if a sample of indices results in a good sample of points indices. |
SampleConsensusModelStick defines a model for 3D stick segmentation. A stick is a line with an user given minimum/maximum width. The model coefficients are defined as:
Definition at line 63 of file sac_model_stick.h.
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelStick< PointT >::PointCloud |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 71 of file sac_model_stick.h.
typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelStick< PointT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 73 of file sac_model_stick.h.
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelStick< PointT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 72 of file sac_model_stick.h.
typedef boost::shared_ptr<SampleConsensusModelStick> pcl::SampleConsensusModelStick< PointT >::Ptr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 75 of file sac_model_stick.h.
pcl::SampleConsensusModelStick< PointT >::SampleConsensusModelStick | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelStick.
[in] | cloud | the input point cloud dataset |
Definition at line 80 of file sac_model_stick.h.
pcl::SampleConsensusModelStick< PointT >::SampleConsensusModelStick | ( | const PointCloudConstPtr & | cloud, |
const std::vector< int > & | indices | ||
) | [inline] |
Constructor for base SampleConsensusModelStick.
[in] | cloud | the input point cloud dataset |
[in] | indices | a vector of point indices to be used from cloud |
Definition at line 86 of file sac_model_stick.h.
bool pcl::SampleConsensusModelStick< PointT >::computeModelCoefficients | ( | const std::vector< int > & | samples, |
Eigen::VectorXf & | model_coefficients | ||
) | [virtual] |
Check whether the given index samples can form a valid stick model, compute the model coefficients from these samples and store them internally in model_coefficients_. The stick coefficients are represented by a point and a line direction.
[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 62 of file sac_model_stick.hpp.
int pcl::SampleConsensusModelStick< PointT >::countWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, |
const double | threshold | ||
) | [virtual] |
Count all the points which respect the given model coefficients as inliers.
[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 |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 169 of file sac_model_stick.hpp.
bool pcl::SampleConsensusModelStick< 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 stick model coefficients.
[in] | indices | the data indices that need to be tested against the plane model |
[in] | model_coefficients | the plane model coefficients |
[in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 328 of file sac_model_stick.hpp.
void pcl::SampleConsensusModelStick< PointT >::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, |
std::vector< double > & | distances | ||
) | [virtual] |
Compute all squared distances from the cloud data to a given stick model.
[in] | model_coefficients | the coefficients of a stick model that we need to compute distances to |
[out] | distances | the resultant estimated squared distances |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 93 of file sac_model_stick.hpp.
pcl::SacModel pcl::SampleConsensusModelStick< PointT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_STACK).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 161 of file sac_model_stick.h.
bool pcl::SampleConsensusModelStick< PointT >::isModelValid | ( | const Eigen::VectorXf & | model_coefficients | ) | [inline, protected, virtual] |
Check whether a model is valid given the user constraints.
[in] | model_coefficients | the set of model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 168 of file sac_model_stick.h.
bool pcl::SampleConsensusModelStick< PointT >::isSampleGood | ( | const std::vector< int > & | samples | ) | const [protected, virtual] |
Check if a sample of indices results in a good sample of points indices.
[in] | samples | the resultant index samples |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 47 of file sac_model_stick.hpp.
void pcl::SampleConsensusModelStick< PointT >::optimizeModelCoefficients | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
Eigen::VectorXf & | optimized_coefficients | ||
) | [virtual] |
Recompute the stick coefficients using the given inlier set and return them to the user.
[in] | inliers | the data inliers found as supporting the model |
[in] | model_coefficients | the initial guess for the model coefficients |
[out] | optimized_coefficients | the resultant recomputed coefficients after optimization |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 214 of file sac_model_stick.hpp.
void pcl::SampleConsensusModelStick< 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 stick model.
[in] | inliers | the data inliers that we want to project on the stick model |
[in] | model_coefficients | the *normalized* coefficients of a stick 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 255 of file sac_model_stick.hpp.
void pcl::SampleConsensusModelStick< 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.
[in] | model_coefficients | the coefficients of a stick 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 126 of file sac_model_stick.hpp.