pcl::SampleConsensusModelSphere< PointT > Class Template Reference

SampleConsensusModelSphere defines a model for 3D sphere segmentation. More...

#include <sac_model_sphere.h>

Inheritance diagram for pcl::SampleConsensusModelSphere< PointT >:

Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelSphere >	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 sphere model, compute the model coefficients from these samples and store them internally in model_coefficients. The sphere coefficients are: x, y, z, R.
bool	doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, double threshold)
	Verify whether a subset of indices verifies the given sphere model coefficients.
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_SPHERE).
void	getSamples (int &iterations, std::vector< int > &samples)
	Get 4 random points (3 non-collinear) 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 sphere 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 sphere model.
	SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelSphere.
	SampleConsensusModelSphere (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelSphere.
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 Member Functions
static int	functionToOptimize (void p, int m, int n, const double x, double *fvec, int iflag)
	Cost function to be minimized.
Private Attributes
const std::vector< int > *	tmp_inliers_
	Temporary pointer to a list of given indices for optimizeModelCoefficients ().
boost::mutex	tmp_mutex_
	Temporary boost mutex for tmp_inliers_.
Static Private Attributes
static const int	MAX_ITERATIONS_COLLINEAR = 1000
	Define the maximum number of iterations for collinearity checks.

Detailed Description

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

SampleConsensusModelSphere defines a model for 3D sphere segmentation.

Author:: Radu Bogdan Rusu

Definition at line 52 of file sac_model_sphere.h.

Member Typedef Documentation

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 60 of file sac_model_sphere.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 62 of file sac_model_sphere.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 61 of file sac_model_sphere.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 64 of file sac_model_sphere.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Constructor for base SampleConsensusModelSphere.

Parameters:

cloud

the input point cloud dataset

Definition at line 69 of file sac_model_sphere.h.

template<typename PointT>

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

Constructor for base SampleConsensusModelSphere.

Parameters:

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

Definition at line 75 of file sac_model_sphere.h.

Member Function Documentation

template<typename PointT >

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

Check whether the given index samples can form a valid sphere model, compute the model coefficients from these samples and store them internally in model_coefficients. The sphere coefficients are: x, y, z, R.

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 131 of file sac_model_sphere.hpp.

template<typename PointT >

bool pcl::SampleConsensusModelSphere< 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 sphere model coefficients.

Parameters:

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 365 of file sac_model_sphere.hpp.

template<typename PointT >

int pcl::SampleConsensusModelSphere< PointT >::functionToOptimize	(	void *	p,
		int	m,
		int	n,
		const double *	x,
		double *	fvec,
		int	iflag
	)			`[inline, static, private]`

Cost function to be minimized.

Parameters:

	p	a pointer to our data structure array
	m	the number of functions
	n	the number of variables
	x	a pointer to the variables array
	fvec	a pointer to the resultant functions evaluations
	iflag	set to -1 inside the function to terminate execution

Definition at line 321 of file sac_model_sphere.hpp.

template<typename PointT >

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

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

Parameters:

	model_coefficients	the coefficients of a sphere model that we need to compute distances to
	distances	the resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 198 of file sac_model_sphere.hpp.

template<typename PointT>

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

Return an unique id for this model (SACMODEL_SPHERE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 141 of file sac_model_sphere.h.

template<typename PointT >

void pcl::SampleConsensusModelSphere< PointT >::getSamples	(	int &	iterations,
		std::vector< int > &	samples
	)			`[inline, virtual]`

Get 4 random points (3 non-collinear) 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!; Two different points could be enough in theory, to infere some sort of a center and a radius, but in practice, we might end up with a lot of points which are just 'close' to one another. Therefore we have two options: a) use normal information (good but I wouldn't rely on it in extremely noisy point clouds, no matter what) b) get two more points and uniquely identify a sphere in space (3 unique points define a circle)

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 45 of file sac_model_sphere.hpp.

template<typename PointT>

bool pcl::SampleConsensusModelSphere< 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 >.

Definition at line 148 of file sac_model_sphere.h.

template<typename PointT >

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

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

Note:: : these are the coefficients of the sphere model after refinement (eg. after SVD)

Parameters:

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 266 of file sac_model_sphere.hpp.

template<typename PointT >

void pcl::SampleConsensusModelSphere< 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 sphere model.

Parameters:

	inliers	the data inliers that we want to project on the sphere model
	model_coefficients	the coefficients of a sphere model
	projected_points	the resultant projected points
	copy_data_fields	set to true if we need to copy the other data fields

Todo:: implement this.

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 342 of file sac_model_sphere.hpp.

template<typename PointT >

void pcl::SampleConsensusModelSphere< 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 sphere 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 >.

Definition at line 227 of file sac_model_sphere.hpp.

Member Data Documentation

template<typename PointT>

const int pcl::SampleConsensusModelSphere< PointT >::MAX_ITERATIONS_COLLINEAR = 1000 [static, private]

Define the maximum number of iterations for collinearity checks.

Definition at line 173 of file sac_model_sphere.h.

template<typename PointT>

const std::vector<int>* pcl::SampleConsensusModelSphere< PointT >::tmp_inliers_ [private]

Temporary pointer to a list of given indices for optimizeModelCoefficients ().

Definition at line 170 of file sac_model_sphere.h.

template<typename PointT>

boost::mutex pcl::SampleConsensusModelSphere< PointT >::tmp_mutex_ [private]

Temporary boost mutex for tmp_inliers_.

Definition at line 167 of file sac_model_sphere.h.

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

pcl::SampleConsensusModelSphere< PointT > Class Template Reference

Public Types

Public Member Functions

Protected Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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