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pcl::SampleConsensusModelSphere< PointT > Class Template Reference

SampleConsensusModelSphere defines a model for 3D sphere segmentation. The model coefficients are defined as: More...

#include <sac_model_sphere.h>

Inheritance diagram for pcl::SampleConsensusModelSphere< PointT >:
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List of all members.

Classes

struct  OptimizationFunctor

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.
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 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).
SampleConsensusModelSphereoperator= (const SampleConsensusModelSphere &source)
 Copy constructor.
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)
 Constructor for base SampleConsensusModelSphere.
 SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
 Constructor for base SampleConsensusModelSphere.
 SampleConsensusModelSphere (const SampleConsensusModelSphere &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.

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.

Private Attributes

const std::vector< int > * tmp_inliers_
 Temporary pointer to a list of given indices for optimizeModelCoefficients ()

Detailed Description

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

SampleConsensusModelSphere defines a model for 3D sphere segmentation. The model coefficients are defined as:

Author:
Radu B. Rusu

Definition at line 59 of file sac_model_sphere.h.


Member Typedef Documentation

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

Constructor & Destructor Documentation

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

Constructor for base SampleConsensusModelSphere.

Parameters:
[in]cloudthe input point cloud dataset

Definition at line 77 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:
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud

Definition at line 85 of file sac_model_sphere.h.

template<typename PointT>
pcl::SampleConsensusModelSphere< PointT >::SampleConsensusModelSphere ( const SampleConsensusModelSphere< PointT > &  source) [inline]

Copy constructor.

Parameters:
[in]sourcethe model to copy into this

Definition at line 92 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 
) [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:
[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 53 of file sac_model_sphere.hpp.

template<typename PointT >
int pcl::SampleConsensusModelSphere< PointT >::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 >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 188 of file sac_model_sphere.hpp.

template<typename PointT >
bool pcl::SampleConsensusModelSphere< 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 sphere model coefficients.

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 275 of file sac_model_sphere.hpp.

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

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

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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 120 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 >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 182 of file sac_model_sphere.h.

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:
[in]model_coefficientsthe set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 189 of file sac_model_sphere.h.

template<typename PointT >
bool pcl::SampleConsensusModelSphere< PointT >::isSampleGood ( const std::vector< int > &  samples) const [protected, virtual]

Check if a sample of indices results in a good sample of points indices.

Parameters:
[in]samplesthe resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 46 of file sac_model_sphere.hpp.

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

Copy constructor.

Parameters:
[in]sourcethe model to copy into this

Definition at line 102 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 
) [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:
[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 219 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 
) [virtual]

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

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 252 of file sac_model_sphere.hpp.

template<typename PointT >
void pcl::SampleConsensusModelSphere< 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.

Parameters:
[in]model_coefficientsthe coefficients of a sphere 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 >.

Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.

Definition at line 149 of file sac_model_sphere.hpp.


Member Data Documentation

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 215 of file sac_model_sphere.h.


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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:09