A Sample Consensus Model class for 3D line segmentation. More...

#include <sac_model_parallel_lines.h>

Inheritance diagram for sample_consensus::SACModelParallelLines:

Public Member Functions
void	closestLine (const std::vector< int > &indices, const std::vector< double > &model_coefficients, std::vector< int > closest_line, std::vector< double > closest_dist)
	Compute the closest distance between each of a set of points and a pair of parallel lines. Also returns the closest line for each point.
void	closestLine (const std::set< int > &indices, const std::vector< double > &model_coefficients, std::vector< int > closest_line, std::vector< double > closest_dist)
virtual bool	computeModelCoefficients (const std::vector< int > &samples)
	Compute the model coefficients from the samples and store them internally in model_coefficients_. The line coefficients are represented by the points themselves.
virtual bool	doSamplesVerifyModel (const std::set< int > &indices, double threshold)
	Verify whether a subset of indices verifies the internal line model coefficients.
virtual void	getDistancesToModel (const std::vector< double > &model_coefficients, std::vector< double > &distances)
	Compute all distances from the cloud data to a given parallel lines model.
virtual int	getModelType ()
	Return an unique id for this model (SACMODEL_PARALLEL_LINES).
virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get 3 random points as data samples and return them as point indices.
double	pointToLineSquareDistance (const geometry_msgs::Point32 &line_point1, const geometry_msgs::Point32 &line_point2, const geometry_msgs::Point32 &point)
	Compute the square distance from a point to a line (as defined by two points).
virtual void	projectPoints (const std::vector< int > &inliers, const std::vector< double > &model_coefficients, sensor_msgs::PointCloud &projected_points)
	Create a new point cloud with inliers projected onto the line model.
virtual void	projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)
	Project the inliers onto their closest lines in place.
virtual void	refitModel (const std::vector< int > &inliers, std::vector< double > &refit_coefficients)
	Recompute the parallel lines coefficients using the given inlier set and return them to the user.
	SACModelParallelLines (double min_line_sep_m, double max_line_sep_m)
	Constructor for base SACModelLine.
virtual void	selectWithinDistance (const std::vector< double > &model_coefficients, double threshold, std::vector< int > &inliers)
	Select all the points which respect the given model coefficients as inliers.
bool	testModelCoefficients (const std::vector< double > &model_coefficients)
	Test whether the given model coefficients are valid given the input point cloud data.
virtual	~SACModelParallelLines ()
	Destructor for base SACModelLine.
Public Attributes
double	max_line_sep_m_
double	min_line_sep_m_

Detailed Description

A Sample Consensus Model class for 3D line segmentation.

Definition at line 48 of file sac_model_parallel_lines.h.

Constructor & Destructor Documentation

sample_consensus::SACModelParallelLines::SACModelParallelLines	(	double	min_line_sep_m,
		double	max_line_sep_m
	)		`[inline]`

Constructor for base SACModelLine.

Definition at line 53 of file sac_model_parallel_lines.h.

virtual sample_consensus::SACModelParallelLines::~SACModelParallelLines ( ) [inline, virtual]

Destructor for base SACModelLine.

Definition at line 61 of file sac_model_parallel_lines.h.

Member Function Documentation

void sample_consensus::SACModelParallelLines::closestLine	(	const std::vector< int > &	indices,
		const std::vector< double > &	model_coefficients,
		std::vector< int > *	closest_line,
		std::vector< double > *	closest_dist
	)

Compute the closest distance between each of a set of points and a pair of parallel lines. Also returns the closest line for each point.

Parameters:

indices	The indices of the points in the point cloud.
model_coefficients	The 3d parallel lines model (length 9). The model is (point on line 1, another point on line 1, point on line 2).
closest_line	The closest line for each point. 0 means the first line (the one with 2 points listed), 1 means the second line.
closest_dist	The distance from each point to its closest line.

Definition at line 76 of file sac_model_parallel_lines.cpp.

void sample_consensus::SACModelParallelLines::closestLine	(	const std::set< int > &	indices,
		const std::vector< double > &	model_coefficients,
		std::vector< int > *	closest_line,
		std::vector< double > *	closest_dist
	)

Definition at line 115 of file sac_model_parallel_lines.cpp.

bool sample_consensus::SACModelParallelLines::computeModelCoefficients ( const std::vector< int > & samples ) [virtual]

Compute the model coefficients from the samples and store them internally in model_coefficients_. The line coefficients are represented by the points themselves.

Parameters:

samples The point indices found as possible good candidates for creating a valid model.

Implements sample_consensus::SACModel.

Definition at line 397 of file sac_model_parallel_lines.cpp.

bool sample_consensus::SACModelParallelLines::doSamplesVerifyModel	(	const std::set< int > &	indices,
		double	threshold
	)		`[virtual]`

Verify whether a subset of indices verifies the internal line model coefficients.

Parameters:

indices	The data indices that need to be tested against the line model.
threshold	A maximum admissible distance threshold for determining the inliers from the outliers.

Implements sample_consensus::SACModel.

Definition at line 503 of file sac_model_parallel_lines.cpp.

void sample_consensus::SACModelParallelLines::getDistancesToModel	(	const std::vector< double > &	model_coefficients,
		std::vector< double > &	distances
	)		`[virtual]`

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

Parameters:

model_coefficients	The coefficients of a line model that we need to compute distances to. The order is (point on line 1, another point on line 1, point on line 2).
distances	the resultant estimated distances

Implements sample_consensus::SACModel.

Definition at line 270 of file sac_model_parallel_lines.cpp.

virtual int sample_consensus::SACModelParallelLines::getModelType ( ) [inline, virtual]

Return an unique id for this model (SACMODEL_PARALLEL_LINES).

Implements sample_consensus::SACModel.

Definition at line 85 of file sac_model_parallel_lines.h.

void sample_consensus::SACModelParallelLines::getSamples	(	int &	iterations,
		std::vector< int > &	samples
	)		`[virtual]`

Get 3 random points as data samples and return them as point indices.

Parameters:

iterations	The internal number of iterations used by the SAC methods
samples	the resultant model samples

Note:: Ensures that the 3 points are unique and not co-linear.

Implements sample_consensus::SACModel.

Definition at line 162 of file sac_model_parallel_lines.cpp.

double sample_consensus::SACModelParallelLines::pointToLineSquareDistance	(	const geometry_msgs::Point32 &	line_point1,
		const geometry_msgs::Point32 &	line_point2,
		const geometry_msgs::Point32 &	point
	)

Compute the square distance from a point to a line (as defined by two points).

Parameters:

line_point1	One point on the line.
line_point2	Another point on the line.
point	The point

Definition at line 52 of file sac_model_parallel_lines.cpp.

void sample_consensus::SACModelParallelLines::projectPoints	(	const std::vector< int > &	inliers,
		const std::vector< double > &	model_coefficients,
		sensor_msgs::PointCloud &	projected_points
	)		`[virtual]`

Create a new point cloud with inliers projected onto the line model.

Parameters:

inliers	The indices of the inliers into the data cloud.
model_coefficients	The coefficients of the parallel lines model.
projected_points	the resultant projected points

Implements sample_consensus::SACModel.

Definition at line 287 of file sac_model_parallel_lines.cpp.

void sample_consensus::SACModelParallelLines::projectPointsInPlace	(	const std::vector< int > &	inliers,
		const std::vector< double > &	model_coefficients
	)		`[virtual]`

Project the inliers onto their closest lines in place.

Parameters:

inliers	The indices of the inliers into the data cloud.
model_coefficients	The coefficients of the parallel lines model.

Implements sample_consensus::SACModel.

Definition at line 349 of file sac_model_parallel_lines.cpp.

void sample_consensus::SACModelParallelLines::refitModel	(	const std::vector< int > &	inliers,
		std::vector< double > &	refit_coefficients
	)		`[virtual]`

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

Note:: : These are the coefficients of the line model after refinement.

Parameters:

inliers	The data inliers found as supporting the model.
refit_coefficients	the resultant recomputed coefficients after non-linear optimization

Implements sample_consensus::SACModel.

Definition at line 421 of file sac_model_parallel_lines.cpp.

void sample_consensus::SACModelParallelLines::selectWithinDistance	(	const std::vector< double > &	model_coefficients,
		double	threshold,
		std::vector< int > &	inliers
	)		`[virtual]`

Select all the points which respect the given model coefficients as inliers.

Parameters:

model_coefficients	The coefficients of the parallel lines model.
threshold	The maximum distance from an inlier to its closest line.
inliers	the resultant model inliers