Point Cloud Library (PCL)  1.9.1-dev
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pcl::SampleConsensusModelCone< PointT, PointNT > Class Template Reference

SampleConsensusModelCone defines a model for 3D cone segmentation. More...

#include <pcl/sample_consensus/sac_model_cone.h>

+ Inheritance diagram for pcl::SampleConsensusModelCone< PointT, PointNT >:

Public Types

typedef SampleConsensusModel< PointT >::PointCloud PointCloud
 
typedef SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
 
typedef SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< SampleConsensusModelConePtr
 
- Public Types inherited from pcl::SampleConsensusModel< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef pcl::PointCloud< PointT >::ConstPtr PointCloudConstPtr
 
typedef pcl::PointCloud< PointT >::Ptr PointCloudPtr
 
typedef pcl::search::Search< PointT >::Ptr SearchPtr
 
typedef boost::shared_ptr< SampleConsensusModelPtr
 
typedef boost::shared_ptr< const SampleConsensusModelConstPtr
 
- Public Types inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
typedef pcl::PointCloud< PointNT >::ConstPtr PointCloudNConstPtr
 
typedef pcl::PointCloud< PointNT >::Ptr PointCloudNPtr
 
typedef boost::shared_ptr< SampleConsensusModelFromNormalsPtr
 
typedef boost::shared_ptr< const SampleConsensusModelFromNormalsConstPtr
 

Public Member Functions

 SampleConsensusModelCone (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelCone. More...
 
 SampleConsensusModelCone (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelCone. More...
 
 SampleConsensusModelCone (const SampleConsensusModelCone &source)
 Copy constructor. More...
 
virtual ~SampleConsensusModelCone ()
 Empty destructor. More...
 
SampleConsensusModelConeoperator= (const SampleConsensusModelCone &source)
 Copy constructor. More...
 
void setEpsAngle (double ea)
 Set the angle epsilon (delta) threshold. More...
 
double getEpsAngle () const
 Get the angle epsilon (delta) threshold. More...
 
void setAxis (const Eigen::Vector3f &ax)
 Set the axis along which we need to search for a cone direction. More...
 
Eigen::Vector3f getAxis () const
 Get the axis along which we need to search for a cone direction. More...
 
void setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
 Set the minimum and maximum allowable opening angle for a cone model given from a user. More...
 
void getMinMaxOpeningAngle (double &min_angle, double &max_angle) const
 Get the opening angle which we need minimum to validate a cone model. More...
 
bool computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients) const
 Check whether the given index samples can form a valid cone model, compute the model coefficients from these samples and store them in model_coefficients. More...
 
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const
 Compute all distances from the cloud data to a given cone model. More...
 
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. More...
 
virtual int countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const
 Count all the points which respect the given model coefficients as inliers. More...
 
void optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const
 Recompute the cone coefficients using the given inlier set and return them to the user. More...
 
void projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const
 Create a new point cloud with inliers projected onto the cone model. More...
 
bool doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const
 Verify whether a subset of indices verifies the given cone model coefficients. More...
 
pcl::SacModel getModelType () const
 Return an unique id for this model (SACMODEL_CONE). More...
 
- Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModel. More...
 
 SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModel. More...
 
virtual ~SampleConsensusModel ()
 Destructor for base SampleConsensusModel. More...
 
virtual void getSamples (int &iterations, std::vector< int > &samples)
 Get a set of random data samples and return them as point indices. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
void setIndices (const boost::shared_ptr< std::vector< int > > &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
void setIndices (const std::vector< int > &indices)
 Provide the vector of indices that represents the input data. More...
 
boost::shared_ptr< std::vector< int > > getIndices () const
 Get a pointer to the vector of indices used. More...
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
unsigned int getSampleSize () const
 Return the size of a sample from which the model is computed. More...
 
unsigned int getModelSize () const
 Return the number of coefficients in the model. More...
 
void setRadiusLimits (const double &min_radius, const double &max_radius)
 Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More...
 
void getRadiusLimits (double &min_radius, double &max_radius) const
 Get the minimum and maximum allowable radius limits for the model as set by the user. More...
 
void setSamplesMaxDist (const double &radius, SearchPtr search)
 Set the maximum distance allowed when drawing random samples. More...
 
void getSamplesMaxDist (double &radius) const
 Get maximum distance allowed when drawing random samples. More...
 
double computeVariance (const std::vector< double > &error_sqr_dists) const
 Compute the variance of the errors to the model. More...
 
double computeVariance () const
 Compute the variance of the errors to the model from the internally estimated vector of distances. More...
 
- Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
 SampleConsensusModelFromNormals ()
 Empty constructor for base SampleConsensusModelFromNormals. More...
 
virtual ~SampleConsensusModelFromNormals ()
 Destructor. More...
 
void setNormalDistanceWeight (const double w)
 Set the normal angular distance weight. More...
 
double getNormalDistanceWeight ()
 Get the normal angular distance weight. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals ()
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 

Protected Member Functions

double pointToAxisDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const
 Get the distance from a point to a line (represented by a point and a direction) More...
 
virtual bool isModelValid (const Eigen::VectorXf &model_coefficients) const
 Check whether a model is valid given the user constraints. More...
 
bool isSampleGood (const std::vector< int > &samples) const
 Check if a sample of indices results in a good sample of points indices. More...
 
- Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (bool random=false)
 Empty constructor for base SampleConsensusModel. More...
 
void drawIndexSample (std::vector< int > &sample)
 Fills a sample array with random samples from the indices_ vector. More...
 
void drawIndexSampleRadius (std::vector< int > &sample)
 Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More...
 
int rnd ()
 Boost-based random number generator. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
std::string model_name_
 The model name. More...
 
PointCloudConstPtr input_
 A boost shared pointer to the point cloud data array. More...
 
boost::shared_ptr< std::vector< int > > indices_
 A pointer to the vector of point indices to use. More...
 
double radius_min_
 The minimum and maximum radius limits for the model. More...
 
double radius_max_
 
double samples_radius_
 The maximum distance of subsequent samples from the first (radius search) More...
 
SearchPtr samples_radius_search_
 The search object for picking subsequent samples using radius search. More...
 
std::vector< int > shuffled_indices_
 Data containing a shuffled version of the indices. More...
 
boost::mt19937 rng_alg_
 Boost-based random number generator algorithm. More...
 
boost::shared_ptr< boost::uniform_int<> > rng_dist_
 Boost-based random number generator distribution. More...
 
boost::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > > rng_gen_
 Boost-based random number generator. More...
 
std::vector< double > error_sqr_dists_
 A vector holding the distances to the computed model. More...
 
unsigned int sample_size_
 The size of a sample from which the model is computed. More...
 
unsigned int model_size_
 The number of coefficients in the model. More...
 
- Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
double normal_distance_weight_
 The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. More...
 
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
static const unsigned int max_sample_checks_ = 1000
 The maximum number of samples to try until we get a good one. More...
 

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelCone< PointT, PointNT >

SampleConsensusModelCone defines a model for 3D cone segmentation.

The model coefficients are defined as:

Author
Stefan Schrandt

Definition at line 64 of file sac_model_cone.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloud

Definition at line 76 of file sac_model_cone.h.

template<typename PointT, typename PointNT>
typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloudConstPtr

Definition at line 78 of file sac_model_cone.h.

template<typename PointT, typename PointNT>
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloudPtr

Definition at line 77 of file sac_model_cone.h.

template<typename PointT, typename PointNT>
typedef boost::shared_ptr<SampleConsensusModelCone> pcl::SampleConsensusModelCone< PointT, PointNT >::Ptr

Definition at line 80 of file sac_model_cone.h.

Constructor & Destructor Documentation

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone ( const PointCloudConstPtr cloud,
bool  random = false 
)
inline

Constructor for base SampleConsensusModelCone.

Parameters
[in]cloudthe input point cloud dataset
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 86 of file sac_model_cone.h.

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices,
bool  random = false 
)
inline

Constructor for base SampleConsensusModelCone.

Parameters
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 104 of file sac_model_cone.h.

template<typename PointT, typename PointNT>
pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone ( const SampleConsensusModelCone< PointT, PointNT > &  source)
inline

Copy constructor.

Parameters
[in]sourcethe model to copy into this

Definition at line 122 of file sac_model_cone.h.

template<typename PointT, typename PointNT>
virtual pcl::SampleConsensusModelCone< PointT, PointNT >::~SampleConsensusModelCone ( )
inlinevirtual

Empty destructor.

Definition at line 132 of file sac_model_cone.h.

Member Function Documentation

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCone< PointT, PointNT >::computeModelCoefficients ( const std::vector< int > &  samples,
Eigen::VectorXf &  model_coefficients 
) const
virtual

Check whether the given index samples can form a valid cone model, compute the model coefficients from these samples and store them in model_coefficients.

The cone coefficients are: apex, axis_direction, opening_angle.

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 55 of file sac_model_cone.hpp.

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getMinMaxOpeningAngle().

template<typename PointT , typename PointNT >
int pcl::SampleConsensusModelCone< PointT, PointNT >::countWithinDistance ( const Eigen::VectorXf &  model_coefficients,
const double  threshold 
) const
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 >.

Definition at line 255 of file sac_model_cone.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getMinMaxOpeningAngle().

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCone< PointT, PointNT >::doSamplesVerifyModel ( const std::set< int > &  indices,
const Eigen::VectorXf &  model_coefficients,
const double  threshold 
) const
virtual

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

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 442 of file sac_model_cone.hpp.

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getMinMaxOpeningAngle().

template<typename PointT, typename PointNT>
Eigen::Vector3f pcl::SampleConsensusModelCone< PointT, PointNT >::getAxis ( ) const
inline

Get the axis along which we need to search for a cone direction.

Definition at line 167 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

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

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

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 137 of file sac_model_cone.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getMinMaxOpeningAngle().

template<typename PointT, typename PointNT>
double pcl::SampleConsensusModelCone< PointT, PointNT >::getEpsAngle ( ) const
inline

Get the angle epsilon (delta) threshold.

Definition at line 157 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelCone< PointT, PointNT >::getMinMaxOpeningAngle ( double &  min_angle,
double &  max_angle 
) const
inline

Get the opening angle which we need minimum to validate a cone model.

Parameters
[out]min_anglethe minimum allowable opening angle of a cone model
[out]max_anglethe maximum allowable opening angle of a cone model

Definition at line 186 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

template<typename PointT, typename PointNT>
pcl::SacModel pcl::SampleConsensusModelCone< PointT, PointNT >::getModelType ( ) const
inlinevirtual

Return an unique id for this model (SACMODEL_CONE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 267 of file sac_model_cone.h.

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCone< PointT, PointNT >::isModelValid ( const Eigen::VectorXf &  model_coefficients) const
protectedvirtual

Check whether a model is valid given the user constraints.

Parameters
[in]model_coefficientsthe set of model coefficients

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 495 of file sac_model_cone.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getModelType().

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCone< PointT, PointNT >::isSampleGood ( const std::vector< int > &  samples) const
protectedvirtual

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

Pure virtual.

Parameters
[in]samplesthe resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 48 of file sac_model_cone.hpp.

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getModelType().

template<typename PointT, typename PointNT>
SampleConsensusModelCone& pcl::SampleConsensusModelCone< PointT, PointNT >::operator= ( const SampleConsensusModelCone< PointT, PointNT > &  source)
inline

Copy constructor.

Parameters
[in]sourcethe model to copy into this

Definition at line 138 of file sac_model_cone.h.

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCone< PointT, PointNT >::optimizeModelCoefficients ( const std::vector< int > &  inliers,
const Eigen::VectorXf &  model_coefficients,
Eigen::VectorXf &  optimized_coefficients 
) const
virtual

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

Note
: these are the coefficients of the cone model after refinement (e.g. 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 309 of file sac_model_cone.hpp.

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getMinMaxOpeningAngle().

template<typename PointT , typename PointNT >
double pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance ( const Eigen::Vector4f &  pt,
const Eigen::VectorXf &  model_coefficients 
) const
protected

Get the distance from a point to a line (represented by a point and a direction)

Parameters
[in]pta point
[in]model_coefficientsthe line coefficients (a point on the line, line direction)

Definition at line 485 of file sac_model_cone.hpp.

References pcl::sqrPointToLineDistance().

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getModelType().

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCone< PointT, PointNT >::projectPoints ( const std::vector< int > &  inliers,
const Eigen::VectorXf &  model_coefficients,
PointCloud projected_points,
bool  copy_data_fields = true 
) const
virtual

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

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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 346 of file sac_model_cone.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getMinMaxOpeningAngle().

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCone< PointT, PointNT >::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 cone 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 >.

Definition at line 189 of file sac_model_cone.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelCone< pcl::PointXYZRGB, PointNT >::getMinMaxOpeningAngle().

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelCone< PointT, PointNT >::setAxis ( const Eigen::Vector3f &  ax)
inline

Set the axis along which we need to search for a cone direction.

Parameters
[in]axthe axis along which we need to search for a cone direction

Definition at line 163 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelCone< PointT, PointNT >::setEpsAngle ( double  ea)
inline

Set the angle epsilon (delta) threshold.

Parameters
[in]eathe maximum allowed difference between the cone's axis and the given axis.

Definition at line 153 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

template<typename PointT, typename PointNT>
void pcl::SampleConsensusModelCone< PointT, PointNT >::setMinMaxOpeningAngle ( const double &  min_angle,
const double &  max_angle 
)
inline

Set the minimum and maximum allowable opening angle for a cone model given from a user.

Parameters
[in]min_anglethe minimum allowable opening angle of a cone model
[in]max_anglethe maximum allowable opening angle of a cone model

Definition at line 175 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().


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