Point Cloud Library (PCL)  1.8.1-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
< SampleConsensusModelCone
Ptr
 
- 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
< SampleConsensusModel
Ptr
 
typedef boost::shared_ptr
< const SampleConsensusModel
ConstPtr
 
- Public Types inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
typedef pcl::PointCloud
< PointNT >::ConstPtr 
PointCloudNConstPtr
 
typedef pcl::PointCloud
< PointNT >::Ptr 
PointCloudNPtr
 
typedef boost::shared_ptr
< SampleConsensusModelFromNormals
Ptr
 
typedef boost::shared_ptr
< const
SampleConsensusModelFromNormals
ConstPtr
 

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)
 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)
 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)
 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)
 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)
 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)
 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)
 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)
 Get maximum distance allowed when drawing random samples. More...
 
double computeVariance (const std::vector< double > &error_sqr_dists)
 Compute the variance of the errors to the model. More...
 
double computeVariance ()
 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)
 Get the distance from a point to a line (represented by a point and a direction) More...
 
std::string getName () const
 Get a string representation of the name of this class. More...
 
virtual bool isModelValid (const Eigen::VectorXf &model_coefficients)
 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 66 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 78 of file sac_model_cone.h.

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

Definition at line 80 of file sac_model_cone.h.

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

Definition at line 79 of file sac_model_cone.h.

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

Definition at line 82 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 88 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 107 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 126 of file sac_model_cone.h.

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

Empty destructor.

Definition at line 136 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 
)
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.

template<typename PointT , typename PointNT >
int pcl::SampleConsensusModelCone< PointT, PointNT >::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 >.

Definition at line 255 of file sac_model_cone.hpp.

References pcl::getAngle3D().

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCone< PointT, PointNT >::doSamplesVerifyModel ( const std::set< int > &  indices,
const Eigen::VectorXf &  model_coefficients,
const double  threshold 
)
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 444 of file sac_model_cone.hpp.

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 172 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 
)
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().

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

Get the angle epsilon (delta) threshold.

Definition at line 162 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 191 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 272 of file sac_model_cone.h.

template<typename PointT, typename PointNT>
std::string pcl::SampleConsensusModelCone< PointT, PointNT >::getName ( ) const
inlineprotected

Get a string representation of the name of this class.

Definition at line 288 of file sac_model_cone.h.

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCone< PointT, PointNT >::isModelValid ( const Eigen::VectorXf &  model_coefficients)
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 497 of file sac_model_cone.hpp.

References pcl::getAngle3D().

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.

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 142 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 
)
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.

template<typename PointT , typename PointNT >
double pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance ( const Eigen::Vector4f &  pt,
const Eigen::VectorXf &  model_coefficients 
)
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 487 of file sac_model_cone.hpp.

References pcl::sqrPointToLineDistance().

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 
)
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 348 of file sac_model_cone.hpp.

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

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().

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 168 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 158 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 180 of file sac_model_cone.h.

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


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