#include <sac_model.h>

Inheritance diagram for sample_consensus::SACModel:

Public Member Functions
virtual bool	computeModelCoefficients (const std::vector< int > &samples)=0
	Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them internally in model_coefficients_. Pure virtual. More...

virtual bool	doSamplesVerifyModel (const std::set< int > &indices, double threshold)=0
	Verify whether a subset of indices verifies the internal model coefficients. Pure virtual. More...

std::vector< int >	getBestInliers ()
	Return the best set of inliers found so far for this model. More...

std::vector< int >	getBestModel ()
	Return the best model found so far. More...

PointCloud *	getCloud ()
	Return a pointer to the point cloud data. More...

virtual void	getDistancesToModel (const std::vector< double > &model_coefficients, std::vector< double > &distances)=0
	Compute all distances from the cloud data to a given model. Pure virtual. More...

std::vector< int > *	getIndices ()
	Return a pointer to the point cloud data indices. More...

std::vector< double >	getModelCoefficients ()
	Return the model coefficients of the best model found so far. More...

virtual int	getModelType ()=0
	Return an unique id for each type of model employed. More...

virtual void	getSamples (int &iterations, std::vector< int > &samples)=0
	Get a set of random data samples and return them as point indices. Pure virtual. More...

virtual void	projectPoints (const std::vector< int > &inliers, const std::vector< double > &model_coefficients, PointCloud &projected_points)=0
	Create a new point cloud with inliers projected onto the model. Pure virtual. More...

virtual void	projectPointsInPlace (const std::vector< int > &inliers, const std::vector< double > &model_coefficients)=0
	Project inliers (in place) onto the given model. Pure virtual. More...

virtual void	refitModel (const std::vector< int > &inliers, std::vector< double > &refit_coefficients)=0
	Recompute the model coefficients using the given inlier set and return them to the user. Pure virtual. More...

virtual int	removeInliers ()
	Remove the inliers found from the initial set of given point indices. More...

	SACModel ()
	Constructor for base SACModel. More...

	SACModel (PointCloud cloud)

virtual void	selectWithinDistance (const std::vector< double > &model_coefficients, double threshold, std::vector< int > &inliers)=0
	Select all the points which respect the given model coefficients as inliers. Pure virtual. More...

void	setBestInliers (const std::vector< int > &best_inliers)
	Set the best set of inliers. Used by SAC methods. Do not call this except if you know what you're doing. More...

void	setBestModel (std::vector< int > best_model)
	Set the best model. Used by SAC methods. Do not call this except if you know what you're doing. More...

void	setDataIndices (std::vector< int > indices)
	Set the indices. More...

void	setDataSet (PointCloud *cloud)
	Set the dataset. More...

void	setDataSet (PointCloud *cloud, std::vector< int > indices)
	Set the dataset and indices. More...

virtual bool	testModelCoefficients (const std::vector< double > &model_coefficients)=0
	Test whether the given model coefficients are valid given the input point cloud data. Pure virtual. More...

virtual	~SACModel ()
	Destructor for base SACModel. More...

Protected Attributes
std::vector< int >	best_inliers_
	The indices of the points that were chosen as inliers after the last computeModel () call. More...

std::vector< int >	best_model_
	The model found after the last computeModel () as pointcloud indices. More...

PointCloud *	cloud_
	Holds a pointer to the point cloud data array, since we don't want to copy the whole thing here. More...

std::vector< int >	indices_
	The list of internal point indices used. More...

std::vector< double >	model_coefficients_
	The coefficients of our model computed directly from the best samples found. More...

Detailed Description

Definition at line 45 of file sac_model.h.

Constructor & Destructor Documentation

◆ SACModel() [1/2]

sample_consensus::SACModel::SACModel ( )

inline

Constructor for base SACModel.

Definition at line 50 of file sac_model.h.

◆ SACModel() [2/2]

sample_consensus::SACModel::SACModel ( PointCloud cloud )

inline

Definition at line 51 of file sac_model.h.

◆ ~SACModel()

virtual sample_consensus::SACModel::~SACModel ( )

inlinevirtual

Destructor for base SACModel.

Definition at line 55 of file sac_model.h.

Member Function Documentation

◆ computeModelCoefficients()

virtual bool sample_consensus::SACModel::computeModelCoefficients ( const std::vector< int > & samples )

pure virtual

Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them internally in model_coefficients_. Pure virtual.

Parameters

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

Implemented in sample_consensus::SACModelLine.

◆ doSamplesVerifyModel()

virtual bool sample_consensus::SACModel::doSamplesVerifyModel	(	const std::set< int > &	indices,
		double	threshold
	)

pure virtual

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

Parameters

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

Implemented in sample_consensus::SACModelLine.

◆ getBestInliers()

std::vector<int> sample_consensus::SACModel::getBestInliers ( )

inline

Return the best set of inliers found so far for this model.

Definition at line 167 of file sac_model.h.

◆ getBestModel()

std::vector<int> sample_consensus::SACModel::getBestModel ( )

inline

Return the best model found so far.

Definition at line 176 of file sac_model.h.

◆ getCloud()

PointCloud* sample_consensus::SACModel::getCloud ( )

inline

Return a pointer to the point cloud data.

Definition at line 183 of file sac_model.h.

◆ getDistancesToModel()

virtual void sample_consensus::SACModel::getDistancesToModel	(	const std::vector< double > &	model_coefficients,
		std::vector< double > &	distances
	)

pure virtual

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

Parameters

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

Implemented in sample_consensus::SACModelLine.

◆ getIndices()

std::vector<int>* sample_consensus::SACModel::getIndices ( )

inline

Return a pointer to the point cloud data indices.

Definition at line 186 of file sac_model.h.

◆ getModelCoefficients()

std::vector<double> sample_consensus::SACModel::getModelCoefficients ( )

inline

Return the model coefficients of the best model found so far.

Definition at line 180 of file sac_model.h.

◆ getModelType()

virtual int sample_consensus::SACModel::getModelType ( )

pure virtual

Return an unique id for each type of model employed.

Implemented in sample_consensus::SACModelLine.

◆ getSamples()

virtual void sample_consensus::SACModel::getSamples	(	int &	iterations,
		std::vector< int > &	samples
	)

pure virtual

Get a set of random data samples and return them as point indices. Pure virtual.

Parameters

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

Implemented in sample_consensus::SACModelLine.

◆ projectPoints()

virtual void sample_consensus::SACModel::projectPoints	(	const std::vector< int > &	inliers,
		const std::vector< double > &	model_coefficients,
		PointCloud &	projected_points
	)

pure virtual

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

Parameters

inliers	the data inliers that we want to project on the model
model_coefficients	the coefficients of a model
projected_points	the resultant projected points

Implemented in sample_consensus::SACModelLine.

◆ projectPointsInPlace()

virtual void sample_consensus::SACModel::projectPointsInPlace	(	const std::vector< int > &	inliers,
		const std::vector< double > &	model_coefficients
	)

pure virtual

Project inliers (in place) onto the given model. Pure virtual.

Parameters

inliers	the data inliers that we want to project on the model
model_coefficients	the coefficients of a model

Implemented in sample_consensus::SACModelLine.

◆ refitModel()

virtual void sample_consensus::SACModel::refitModel	(	const std::vector< int > &	inliers,
		std::vector< double > &	refit_coefficients
	)

pure virtual

Recompute the model coefficients using the given inlier set and return them to the user. Pure virtual.

Note: : these are the coefficients of the model after refinement (eg. after a least-squares optimization)

Parameters

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

Implemented in sample_consensus::SACModelLine.

◆ removeInliers()

int sample_consensus::SACModel::removeInliers ( )

virtual

Remove the inliers found from the initial set of given point indices.

Definition at line 41 of file sac_model.cpp.

◆ selectWithinDistance()

virtual void sample_consensus::SACModel::selectWithinDistance	(	const std::vector< double > &	model_coefficients,
		double	threshold,
		std::vector< int > &	inliers
	)

pure virtual

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

Parameters

model_coefficients	the coefficients of a 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

Note: : To get the refined inliers of a model, use: ANNpoint refined_coeff = refitModel (...); selectWithinDistance (refined_coeff, threshold);

Implemented in sample_consensus::SACModelLine.

◆ setBestInliers()

void sample_consensus::SACModel::setBestInliers ( const std::vector< int > & best_inliers )

inline

Set the best set of inliers. Used by SAC methods. Do not call this except if you know what you're doing.

Parameters

best_inliers the set of inliers for the best model

Definition at line 163 of file sac_model.h.

◆ setBestModel()

void sample_consensus::SACModel::setBestModel ( std::vector< int > best_model )

inline

Set the best model. Used by SAC methods. Do not call this except if you know what you're doing.

Parameters

best_model the best model found so far

Definition at line 172 of file sac_model.h.

◆ setDataIndices()

void sample_consensus::SACModel::setDataIndices ( std::vector< int > indices )

inline

Set the indices.

Parameters

indices the point indices used

Definition at line 150 of file sac_model.h.

◆ setDataSet() [1/2]

void sample_consensus::SACModel::setDataSet ( PointCloud * cloud )

inline

Set the dataset.

Parameters

cloud the data set to be used

Definition at line 129 of file sac_model.h.

◆ setDataSet() [2/2]

void sample_consensus::SACModel::setDataSet	(	PointCloud *	cloud,
		std::vector< int >	indices
	)

inline

Set the dataset and indices.

Parameters

cloud	the data set to be used
indices	the point indices used

Definition at line 142 of file sac_model.h.

◆ testModelCoefficients()

virtual bool sample_consensus::SACModel::testModelCoefficients ( const std::vector< double > & model_coefficients )

pure virtual

Test whether the given model coefficients are valid given the input point cloud data. Pure virtual.

Parameters

model_coefficients the model coefficients that need to be tested

Implemented in sample_consensus::SACModelLine.

Member Data Documentation

◆ best_inliers_

std::vector<int> sample_consensus::SACModel::best_inliers_

protected

The indices of the points that were chosen as inliers after the last computeModel () call.

Definition at line 202 of file sac_model.h.

◆ best_model_

std::vector<int> sample_consensus::SACModel::best_model_

protected

The model found after the last computeModel () as pointcloud indices.

Definition at line 200 of file sac_model.h.

◆ cloud_

PointCloud* sample_consensus::SACModel::cloud_

protected

Holds a pointer to the point cloud data array, since we don't want to copy the whole thing here.

Definition at line 191 of file sac_model.h.

◆ indices_

std::vector<int> sample_consensus::SACModel::indices_

protected

The list of internal point indices used.

Definition at line 194 of file sac_model.h.

◆ model_coefficients_

std::vector<double> sample_consensus::SACModel::model_coefficients_

protected

The coefficients of our model computed directly from the best samples found.

Definition at line 197 of file sac_model.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SACModel() [1/2]

◆ SACModel() [2/2]

◆ ~SACModel()

Member Function Documentation

◆ computeModelCoefficients()

◆ doSamplesVerifyModel()

◆ getBestInliers()

◆ getBestModel()

◆ getCloud()

◆ getDistancesToModel()

◆ getIndices()

◆ getModelCoefficients()

◆ getModelType()

◆ getSamples()

◆ projectPoints()

◆ projectPointsInPlace()

◆ refitModel()

◆ removeInliers()

◆ selectWithinDistance()

◆ setBestInliers()

◆ setBestModel()

◆ setDataIndices()

◆ setDataSet() [1/2]

◆ setDataSet() [2/2]

◆ testModelCoefficients()

Member Data Documentation

◆ best_inliers_

◆ best_model_

◆ cloud_

◆ indices_

◆ model_coefficients_