pcl::SampleConsensusModelLine< PointT > Class Template Reference

SampleConsensusModelLine defines a model for 3D line segmentation. More...

#include <sac_model_line.h>

Inheritance diagram for pcl::SampleConsensusModelLine< PointT >:

Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelLine >	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 line model, compute the model coefficients from these samples and store them internally in model_coefficients_. The line coefficients are represented by a point and a line direction.
bool	doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, double threshold)
	Verify whether a subset of indices verifies the given plane model coefficients.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all squared distances from the cloud data to a given line model.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_LINE).
void	getSamples (int &iterations, std::vector< int > &samples)
	Get 2 random points as data samples and return them as point indices.
void	optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
	Recompute the line 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 line model.
	SampleConsensusModelLine (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelLine.
	SampleConsensusModelLine (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelLine.
void	selectWithinDistance (const Eigen::VectorXf &model_coefficients, 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.
Static Private Attributes
static const int	MAX_ITERATIONS_UNIQUE = 1000
	Define the maximum number of iterations for unique points search.

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelLine< PointT >

SampleConsensusModelLine defines a model for 3D line segmentation.

Author:: Radu Bogdan Rusu

Definition at line 53 of file sac_model_line.h.

Member Typedef Documentation

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelLine< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 59 of file sac_model_line.h.

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelLine< PointT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 61 of file sac_model_line.h.

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelLine< PointT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 60 of file sac_model_line.h.

template<typename PointT>

typedef boost::shared_ptr<SampleConsensusModelLine> pcl::SampleConsensusModelLine< PointT >::Ptr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 63 of file sac_model_line.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::SampleConsensusModelLine< PointT >::SampleConsensusModelLine ( const PointCloudConstPtr & cloud ) [inline]

Constructor for base SampleConsensusModelLine.

Parameters:

cloud

the input point cloud dataset

Definition at line 68 of file sac_model_line.h.

template<typename PointT>

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

Constructor for base SampleConsensusModelLine.

Parameters:

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

Definition at line 74 of file sac_model_line.h.

Member Function Documentation

template<typename PointT >

bool pcl::SampleConsensusModelLine< PointT >::computeModelCoefficients	(	const std::vector< int > &	samples,
		Eigen::VectorXf &	model_coefficients
	)			`[inline, 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 a point and a line direction.

Parameters:

	samples	the point indices found as possible good candidates for creating a valid model
	model_coefficients	the resultant model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 93 of file sac_model_line.hpp.

template<typename PointT >

bool pcl::SampleConsensusModelLine< PointT >::doSamplesVerifyModel	(	const std::set< int > &	indices,
		const Eigen::VectorXf &	model_coefficients,
		double	threshold
	)			`[inline, virtual]`

Verify whether a subset of indices verifies the given plane model coefficients.

Parameters:

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 306 of file sac_model_line.hpp.

template<typename PointT >

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

Compute all squared 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 squared distances

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 118 of file sac_model_line.hpp.

template<typename PointT>

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

Return an unique id for this model (SACMODEL_LINE).

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 128 of file sac_model_line.h.

template<typename PointT >

void pcl::SampleConsensusModelLine< PointT >::getSamples	(	int &	iterations,
		std::vector< int > &	samples
	)			`[inline, 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 pcl::SampleConsensusModel< PointT >.

Definition at line 45 of file sac_model_line.hpp.

template<typename PointT>

bool pcl::SampleConsensusModelLine< PointT >::isModelValid ( const Eigen::VectorXf & model_coefficients ) [inline, protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:

model_coefficients

the set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 135 of file sac_model_line.h.

template<typename PointT >

void pcl::SampleConsensusModelLine< PointT >::optimizeModelCoefficients	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)			`[inline, 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 (eg. after SVD)

Parameters:

	inliers	the data inliers found as supporting the model
	model_coefficients	the initial guess for the model coefficients
	optimized_coefficients	the resultant recomputed coefficients after optimization

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 193 of file sac_model_line.hpp.

template<typename PointT >

void pcl::SampleConsensusModelLine< PointT >::projectPoints	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		PointCloud &	projected_points,
		bool	copy_data_fields = `true`
	)			`[inline, 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 normalized coefficients of a line model
	projected_points	the resultant projected points
	copy_data_fields	set to true if we need to copy the other data fields

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 236 of file sac_model_line.hpp.

template<typename PointT >

void pcl::SampleConsensusModelLine< PointT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		double	threshold,
		std::vector< int > &	inliers
	)			`[inline, 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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelParallelLine< PointT >.

Definition at line 148 of file sac_model_line.hpp.

Member Data Documentation

template<typename PointT>

const int pcl::SampleConsensusModelLine< PointT >::MAX_ITERATIONS_UNIQUE = 1000 [static, private]

Define the maximum number of iterations for unique points search.

Definition at line 142 of file sac_model_line.h.

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

pcl::SampleConsensusModelLine< PointT > Class Template Reference

Public Types

Public Member Functions

Protected Member Functions

Static Private Attributes

Detailed Description

template<typename PointT> class pcl::SampleConsensusModelLine< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::SampleConsensusModelLine< PointT >