Point Cloud Library (PCL)  1.8.1-dev
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pcl::SampleConsensusModelSphere< PointT > Class Template Reference

SampleConsensusModelSphere defines a model for 3D sphere segmentation. More...

#include <pcl/sample_consensus/sac_model_sphere.h>

+ Inheritance diagram for pcl::SampleConsensusModelSphere< PointT >:

Public Types

typedef SampleConsensusModel
< PointT >::PointCloud 
PointCloud
 
typedef SampleConsensusModel
< PointT >::PointCloudPtr 
PointCloudPtr
 
typedef SampleConsensusModel
< PointT >::PointCloudConstPtr 
PointCloudConstPtr
 
typedef boost::shared_ptr
< SampleConsensusModelSphere
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 Member Functions

 SampleConsensusModelSphere (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelSphere. More...
 
 SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelSphere. More...
 
virtual ~SampleConsensusModelSphere ()
 Empty destructor. More...
 
 SampleConsensusModelSphere (const SampleConsensusModelSphere &source)
 Copy constructor. More...
 
SampleConsensusModelSphereoperator= (const SampleConsensusModelSphere &source)
 Copy constructor. More...
 
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. More...
 
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
 Compute all distances from the cloud data to a given sphere 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 sphere 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 sphere 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 sphere model coefficients. More...
 
pcl::SacModel getModelType () const
 Return an unique id for this model (SACMODEL_SPHERE). 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...
 

Protected Member Functions

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...
 
- 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>
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 60 of file sac_model_sphere.h.

Member Typedef Documentation

Definition at line 70 of file sac_model_sphere.h.

Definition at line 72 of file sac_model_sphere.h.

Definition at line 71 of file sac_model_sphere.h.

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

Definition at line 74 of file sac_model_sphere.h.

Constructor & Destructor Documentation

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

Constructor for base SampleConsensusModelSphere.

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 80 of file sac_model_sphere.h.

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

Constructor for base SampleConsensusModelSphere.

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 94 of file sac_model_sphere.h.

template<typename PointT>
virtual pcl::SampleConsensusModelSphere< PointT >::~SampleConsensusModelSphere ( )
inlinevirtual

Empty destructor.

Definition at line 105 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 110 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 56 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 194 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 281 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 >.

Definition at line 122 of file sac_model_sphere.hpp.

template<typename PointT>
pcl::SacModel pcl::SampleConsensusModelSphere< PointT >::getModelType ( ) const
inlinevirtual

Return an unique id for this model (SACMODEL_SPHERE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 201 of file sac_model_sphere.h.

template<typename PointT>
virtual bool pcl::SampleConsensusModelSphere< PointT >::isModelValid ( const Eigen::VectorXf &  model_coefficients)
inlineprotectedvirtual

Check whether a model is valid given the user constraints.

Parameters
[in]model_coefficientsthe set of model coefficients

Reimplemented from pcl::SampleConsensusModel< PointT >.

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

Definition at line 211 of file sac_model_sphere.h.

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

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 49 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 121 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 (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 225 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

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 258 of file sac_model_sphere.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 >
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 >.

Definition at line 151 of file sac_model_sphere.hpp.


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