Classes | Public Types | Public Member Functions | Protected Member Functions | Private Attributes
pcl::SampleConsensusModelCylinder< PointT, PointNT > Class Template Reference

SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. The model coefficients are defined as: More...

#include <sac_model_cylinder.h>

Inheritance diagram for pcl::SampleConsensusModelCylinder< PointT, PointNT >:
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List of all members.

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
< SampleConsensusModelCylinder
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 cylinder model, compute the model coefficients from these samples and store them in model_coefficients. The cylinder coefficients are: point_on_axis, axis_direction, cylinder_radius_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 cylinder model coefficients.
Eigen::Vector3f getAxis ()
 Get the axis along which we need to search for a cylinder direction.
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
 Compute all distances from the cloud data to a given cylinder model.
double getEpsAngle ()
 Get the angle epsilon (delta) threshold.
pcl::SacModel getModelType () const
 Return an unique id for this model (SACMODEL_CYLINDER).
SampleConsensusModelCylinderoperator= (const SampleConsensusModelCylinder &source)
 Copy constructor.
void optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
 Recompute the cylinder 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 cylinder model.
 SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelCylinder.
 SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelCylinder.
 SampleConsensusModelCylinder (const SampleConsensusModelCylinder &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 cylinder direction.
void setEpsAngle (const double ea)
 Set the angle epsilon (delta) threshold.
virtual ~SampleConsensusModelCylinder ()
 Empty destructor.

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 pointToLineDistance (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)
void projectPointToCylinder (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj)
 Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R)
void projectPointToLine (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, Eigen::Vector4f &pt_proj)
 Project a point onto a line given by a point and a direction vector.

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.
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::SampleConsensusModelCylinder< PointT, PointNT >

SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. The model coefficients are defined as:

Author:
Radu Bogdan Rusu

Definition at line 65 of file sac_model_cylinder.h.


Member Typedef Documentation

template<typename PointT, typename PointNT>
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloud

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 76 of file sac_model_cylinder.h.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 78 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 77 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>
typedef boost::shared_ptr<SampleConsensusModelCylinder> pcl::SampleConsensusModelCylinder< PointT, PointNT >::Ptr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 80 of file sac_model_cylinder.h.


Constructor & Destructor Documentation

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder ( const PointCloudConstPtr cloud,
bool  random = false 
) [inline]

Constructor for base SampleConsensusModelCylinder.

Parameters:
[in]cloudthe input point cloud dataset
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 86 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices,
bool  random = false 
) [inline]

Constructor for base SampleConsensusModelCylinder.

Parameters:
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 100 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder ( const SampleConsensusModelCylinder< PointT, PointNT > &  source) [inline]

Copy constructor.

Parameters:
[in]sourcethe model to copy into this

Definition at line 114 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>
virtual pcl::SampleConsensusModelCylinder< PointT, PointNT >::~SampleConsensusModelCylinder ( ) [inline, virtual]

Empty destructor.

Definition at line 125 of file sac_model_cylinder.h.


Member Function Documentation

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

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

Parameters:
[in]samplesthe point indices found as possible good candidates for creating a valid model
[out]model_coefficientsthe resultant model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 57 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >
int pcl::SampleConsensusModelCylinder< 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_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholdmaximum admissible distance threshold for determining the inliers from the outliers
Returns:
the resultant number of inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 226 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCylinder< 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 cylinder model coefficients.

Parameters:
[in]indicesthe data indices that need to be tested against the cylinder model
[in]model_coefficientsthe cylinder model coefficients
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 391 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>
Eigen::Vector3f pcl::SampleConsensusModelCylinder< PointT, PointNT >::getAxis ( ) [inline]

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

Definition at line 158 of file sac_model_cylinder.h.

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

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

Parameters:
[in]model_coefficientsthe coefficients of a cylinder model that we need to compute distances to
[out]distancesthe resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 131 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>
double pcl::SampleConsensusModelCylinder< PointT, PointNT >::getEpsAngle ( ) [inline]

Get the angle epsilon (delta) threshold.

Definition at line 148 of file sac_model_cylinder.h.

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

Return an unique id for this model (SACMODEL_CYLINDER).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 234 of file sac_model_cylinder.h.

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

Get a string representation of the name of this class.

Definition at line 274 of file sac_model_cylinder.h.

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::isModelValid ( const Eigen::VectorXf &  model_coefficients) [protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:
[in]model_coefficientsthe set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 444 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCylinder< 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]samplesthe resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 50 of file sac_model_cylinder.hpp.

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

Copy constructor.

Parameters:
[in]sourcethe model to copy into this

Definition at line 131 of file sac_model_cylinder.h.

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

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

Note:
: these are the coefficients of the cylinder model after refinement (eg. after SVD)
Parameters:
[in]inliersthe data inliers found as supporting the model
[in]model_coefficientsthe initial guess for the optimization
[out]optimized_coefficientsthe resultant recomputed coefficients after non-linear optimization

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 266 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >
double pcl::SampleConsensusModelCylinder< PointT, PointNT >::pointToLineDistance ( 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]pta point
[in]model_coefficientsthe line coefficients (a point on the line, line direction)

Definition at line 416 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< 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 cylinder model.

Parameters:
[in]inliersthe data inliers that we want to project on the cylinder model
[in]model_coefficientsthe coefficients of a cylinder model
[out]projected_pointsthe resultant projected points
[in]copy_data_fieldsset to true if we need to copy the other data fields

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 305 of file sac_model_cylinder.hpp.

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPointToCylinder ( const Eigen::Vector4f &  pt,
const Eigen::VectorXf &  model_coefficients,
Eigen::Vector4f &  pt_proj 
) [protected]

Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R)

Parameters:
[in]ptthe input point to project
[in]model_coefficientsthe coefficients of the cylinder (point_on_axis, axis_direction, cylinder_radius_R)
[out]pt_projthe resultant projected point

Definition at line 426 of file sac_model_cylinder.hpp.

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPointToLine ( const Eigen::Vector4f &  pt,
const Eigen::Vector4f &  line_pt,
const Eigen::Vector4f &  line_dir,
Eigen::Vector4f &  pt_proj 
) [inline, protected]

Project a point onto a line given by a point and a direction vector.

Parameters:
[in]ptthe input point to project
[in]line_ptthe point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
[in]line_dirthe direction of the line (make sure that line_dir[3] = 0 as there are no internal checks!)
[out]pt_projthe resultant projected point

Definition at line 251 of file sac_model_cylinder.h.

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< 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_coefficientsthe coefficients of a cylinder model that we need to compute distances to
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe resultant model inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 174 of file sac_model_cylinder.hpp.

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

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

Parameters:
[in]axthe axis along which we need to search for a cylinder direction

Definition at line 154 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelCylinder< PointT, PointNT >::setEpsAngle ( const double  ea) [inline]

Set the angle epsilon (delta) threshold.

Parameters:
[in]eathe maximum allowed difference between the cyilinder axis and the given axis.

Definition at line 144 of file sac_model_cylinder.h.


Member Data Documentation

template<typename PointT, typename PointNT>
Eigen::Vector3f pcl::SampleConsensusModelCylinder< PointT, PointNT >::axis_ [private]

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

Definition at line 292 of file sac_model_cylinder.h.

template<typename PointT, typename PointNT>
double pcl::SampleConsensusModelCylinder< PointT, PointNT >::eps_angle_ [private]

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

Definition at line 295 of file sac_model_cylinder.h.

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

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

Definition at line 298 of file sac_model_cylinder.h.


The documentation for this class was generated from the following files:


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:43:34