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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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SampleConsensusModelCone defines a model for 3D cone segmentation. More...
#include <pcl/sample_consensus/sac_model_cone.h>
Classes | |
| struct | OptimizationFunctor |
| Functor for the optimization function. | |
Public Types | |
| typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
| typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
| typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
| typedef boost::shared_ptr < SampleConsensusModelCone > | Ptr |
| typedef pcl::search::Search < PointT >::Ptr | SearchPtr |
| typedef boost::shared_ptr < const SampleConsensusModel > | ConstPtr |
| typedef pcl::PointCloud < PointNT >::ConstPtr | PointCloudNConstPtr |
| typedef pcl::PointCloud < PointNT >::Ptr | PointCloudNPtr |
| typedef boost::shared_ptr < const SampleConsensusModelFromNormals > | ConstPtr |
Public Member Functions | |
| SampleConsensusModelCone (const PointCloudConstPtr &cloud) | |
| Constructor for base SampleConsensusModelCone. | |
| SampleConsensusModelCone (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
| Constructor for base SampleConsensusModelCone. | |
| SampleConsensusModelCone (const SampleConsensusModelCone &source) | |
| Copy constructor. | |
| SampleConsensusModelCone & | operator= (const SampleConsensusModelCone &source) |
| Copy constructor. | |
| void | setEpsAngle (double ea) |
| Set the angle epsilon (delta) threshold. | |
| double | getEpsAngle () const |
| Get the angle epsilon (delta) threshold. | |
| void | setAxis (const Eigen::Vector3f &ax) |
| Set the axis along which we need to search for a cone direction. | |
| Eigen::Vector3f | getAxis () const |
| Get the axis along which we need to search for a cone direction. | |
| 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. | |
| void | getMinMaxOpeningAngle (double &min_angle, double &max_angle) const |
| Get the opening angle which we need minumum to validate a cone model. | |
| 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. | |
| void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
| Compute all distances from the cloud data to a given cone model. | |
| 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. | |
| virtual int | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) |
| Count all the points which respect the given model coefficients as inliers. | |
| 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. | |
| 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. | |
| 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. | |
| pcl::SacModel | getModelType () const |
| Return an unique id for this model (SACMODEL_CONE). | |
| void | getSamples (int &iterations, std::vector< int > &samples) |
| Get a set of random data samples and return them as point indices. | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. | |
| void | setIndices (const boost::shared_ptr< std::vector< int > > &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const std::vector< int > &indices) |
| Provide the vector of indices that represents the input data. | |
| boost::shared_ptr< std::vector < int > > | getIndices () const |
| Get a pointer to the vector of indices used. | |
| unsigned int | getSampleSize () const |
| Return the size of a sample from which a model is computed. | |
| 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) | |
| void | getRadiusLimits (double &min_radius, double &max_radius) |
| Get the minimum and maximum allowable radius limits for the model as set by the user. | |
| void | setSamplesMaxDist (const double &radius, SearchPtr search) |
| Set the maximum distance allowed when drawing random samples. | |
| void | getSamplesMaxDist (double &radius) |
| Get maximum distance allowed when drawing random samples. | |
| void | setNormalDistanceWeight (const double w) |
| Set the normal angular distance weight. | |
| double | getNormalDistanceWeight () |
| Get the normal angular distance weight. | |
| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
| PointCloudNConstPtr | getInputNormals () |
| Get a pointer to the normals of the input XYZ point cloud dataset. | |
Friends | |
| class | ProgressiveSampleConsensus< PointT > |
SampleConsensusModelCone defines a model for 3D cone segmentation.
The model coefficients are defined as:
Definition at line 66 of file sac_model_cone.h.
typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel< PointT >::ConstPtr [inherited] |
Definition at line 74 of file sac_model.h.
typedef boost::shared_ptr<const SampleConsensusModelFromNormals> pcl::SampleConsensusModelFromNormals< PointT, PointNT >::ConstPtr [inherited] |
Definition at line 510 of file sac_model.h.
| typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloud |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 76 of file sac_model_cone.h.
| typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 78 of file sac_model_cone.h.
typedef pcl::PointCloud<PointNT>::ConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNConstPtr [inherited] |
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, and pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 506 of file sac_model.h.
typedef pcl::PointCloud<PointNT>::Ptr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::PointCloudNPtr [inherited] |
Reimplemented in pcl::SampleConsensusModelNormalParallelPlane< PointT, PointNT >, pcl::SampleConsensusModelNormalPlane< PointT, PointNT >, and pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 507 of file sac_model.h.
| typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 77 of file sac_model_cone.h.
| typedef boost::shared_ptr<SampleConsensusModelCone> pcl::SampleConsensusModelCone< PointT, PointNT >::Ptr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 80 of file sac_model_cone.h.
typedef pcl::search::Search<PointT>::Ptr pcl::SampleConsensusModel< PointT >::SearchPtr [inherited] |
Definition at line 71 of file sac_model.h.
| pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelCone.
| [in] | cloud | the input point cloud dataset |
Definition at line 85 of file sac_model_cone.h.
| pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone | ( | const PointCloudConstPtr & | cloud, |
| const std::vector< int > & | indices | ||
| ) | [inline] |
Constructor for base SampleConsensusModelCone.
| [in] | cloud | the input point cloud dataset |
| [in] | indices | a vector of point indices to be used from cloud |
Definition at line 95 of file sac_model_cone.h.
| pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone | ( | const SampleConsensusModelCone< PointT, PointNT > & | source | ) | [inline] |
Copy constructor.
| [in] | source | the model to copy into this |
Definition at line 105 of file sac_model_cone.h.
| 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.
| [in] | samples | the point indices found as possible good candidates for creating a valid model |
| [out] | model_coefficients | the resultant model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 54 of file sac_model_cone.hpp.
| 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.
| [in] | model_coefficients | the coefficients of a model that we need to compute distances to |
| [in] | threshold | maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 249 of file sac_model_cone.hpp.
| 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.
| [in] | indices | the data indices that need to be tested against the cone model |
| [in] | model_coefficients | the cone model coefficients |
| [in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 432 of file sac_model_cone.hpp.
| 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 144 of file sac_model_cone.h.
| 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.
| [in] | model_coefficients | the coefficients of a cone model that we need to compute distances to |
| [out] | distances | the resultant estimated distances |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 136 of file sac_model_cone.hpp.
| double pcl::SampleConsensusModelCone< PointT, PointNT >::getEpsAngle | ( | ) | const [inline] |
Get the angle epsilon (delta) threshold.
Definition at line 134 of file sac_model_cone.h.
| boost::shared_ptr<std::vector<int> > pcl::SampleConsensusModel< PointT >::getIndices | ( | ) | const [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 327 of file sac_model.h.
| PointCloudConstPtr pcl::SampleConsensusModel< PointT >::getInputCloud | ( | ) | const [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 303 of file sac_model.h.
| PointCloudNConstPtr pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getInputNormals | ( | ) | [inline, inherited] |
Get a pointer to the normals of the input XYZ point cloud dataset.
Definition at line 546 of file sac_model.h.
| void pcl::SampleConsensusModelCone< PointT, PointNT >::getMinMaxOpeningAngle | ( | double & | min_angle, |
| double & | max_angle | ||
| ) | const [inline] |
Get the opening angle which we need minumum to validate a cone model.
| [out] | min_angle | the minimum allwoable opening angle of a cone model |
| [out] | max_angle | the maximum allwoable opening angle of a cone model |
Definition at line 163 of file sac_model_cone.h.
| pcl::SacModel pcl::SampleConsensusModelCone< PointT, PointNT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_CONE).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 244 of file sac_model_cone.h.
| double pcl::SampleConsensusModelFromNormals< PointT, PointNT >::getNormalDistanceWeight | ( | ) | [inline, inherited] |
Get the normal angular distance weight.
Definition at line 531 of file sac_model.h.
| void pcl::SampleConsensusModel< PointT >::getRadiusLimits | ( | double & | min_radius, |
| double & | max_radius | ||
| ) | [inline, inherited] |
Get the minimum and maximum allowable radius limits for the model as set by the user.
| [out] | min_radius | the resultant minimum radius model |
| [out] | max_radius | the resultant maximum radius model |
Definition at line 363 of file sac_model.h.
| void pcl::SampleConsensusModel< PointT >::getSamples | ( | int & | iterations, |
| std::vector< int > & | samples | ||
| ) | [inline, inherited] |
Get a set of random data samples and return them as point indices.
Pure virtual.
| [out] | iterations | the internal number of iterations used by SAC methods |
| [out] | samples | the resultant model samples |
Definition at line 163 of file sac_model.h.
| unsigned int pcl::SampleConsensusModel< PointT >::getSampleSize | ( | ) | const [inline, inherited] |
Return the size of a sample from which a model is computed.
Definition at line 335 of file sac_model.h.
| void pcl::SampleConsensusModel< PointT >::getSamplesMaxDist | ( | double & | radius | ) | [inline, inherited] |
Get maximum distance allowed when drawing random samples.
| [out] | radius | the maximum distance (L2 norm) |
Definition at line 384 of file sac_model.h.
| SampleConsensusModelCone& pcl::SampleConsensusModelCone< PointT, PointNT >::operator= | ( | const SampleConsensusModelCone< PointT, PointNT > & | source | ) | [inline] |
Copy constructor.
| [in] | source | the model to copy into this |
Definition at line 115 of file sac_model_cone.h.
| 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.
| [in] | inliers | the data inliers found as supporting the model |
| [in] | model_coefficients | the initial guess for the optimization |
| [out] | optimized_coefficients | the resultant recomputed coefficients after non-linear optimization |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 303 of file sac_model_cone.hpp.
| 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.
| [in] | inliers | the data inliers that we want to project on the cone model |
| [in] | model_coefficients | the coefficients of a cone model |
| [out] | projected_points | the resultant projected points |
| [in] | copy_data_fields | set to true if we need to copy the other data fields |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 336 of file sac_model_cone.hpp.
| 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.
| [in] | model_coefficients | the coefficients of a cone model that we need to compute distances to |
| [in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
| [out] | inliers | the resultant model inliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 188 of file sac_model_cone.hpp.
| void pcl::SampleConsensusModelCone< PointT, PointNT >::setAxis | ( | const Eigen::Vector3f & | ax | ) | [inline] |
Set the axis along which we need to search for a cone direction.
| [in] | ax | the axis along which we need to search for a cone direction |
Definition at line 140 of file sac_model_cone.h.
| void pcl::SampleConsensusModelCone< PointT, PointNT >::setEpsAngle | ( | double | ea | ) | [inline] |
Set the angle epsilon (delta) threshold.
| [in] | ea | the maximum allowed difference between the cone's axis and the given axis. |
Definition at line 130 of file sac_model_cone.h.
| void pcl::SampleConsensusModel< PointT >::setIndices | ( | const boost::shared_ptr< std::vector< int > > & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| [in] | indices | a pointer to the vector of indices that represents the input data. |
Definition at line 309 of file sac_model.h.
| void pcl::SampleConsensusModel< PointT >::setIndices | ( | const std::vector< int > & | indices | ) | [inline, inherited] |
Provide the vector of indices that represents the input data.
| [out] | indices | the vector of indices that represents the input data. |
Definition at line 319 of file sac_model.h.
| virtual void pcl::SampleConsensusModel< PointT >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
| [in] | cloud | the const boost shared pointer to a PointCloud message |
Reimplemented in pcl::SampleConsensusModelRegistration< PointT >.
Definition at line 286 of file sac_model.h.
| void pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
| [in] | normals | the const boost shared pointer to a PointCloud message |
Definition at line 539 of file sac_model.h.
| 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.
| [in] | min_angle | the minimum allwoable opening angle of a cone model |
| [in] | max_angle | the maximum allwoable opening angle of a cone model |
Definition at line 152 of file sac_model_cone.h.
| void pcl::SampleConsensusModelFromNormals< PointT, PointNT >::setNormalDistanceWeight | ( | const double | w | ) | [inline, inherited] |
Set the normal angular distance weight.
| [in] | w | the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. (The Euclidean distance will have weight 1-w.) |
Definition at line 524 of file sac_model.h.
| void pcl::SampleConsensusModel< PointT >::setRadiusLimits | ( | const double & | min_radius, |
| const double & | max_radius | ||
| ) | [inline, inherited] |
Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)
| [in] | min_radius | the minimum radius model |
| [in] | max_radius | the maximum radius model |
Definition at line 350 of file sac_model.h.
| void pcl::SampleConsensusModel< PointT >::setSamplesMaxDist | ( | const double & | radius, |
| SearchPtr | search | ||
| ) | [inline, inherited] |
Set the maximum distance allowed when drawing random samples.
| [in] | radius | the maximum distance (L2 norm) |
Definition at line 373 of file sac_model.h.
friend class ProgressiveSampleConsensus< PointT > [friend, inherited] |
Definition at line 389 of file sac_model.h.
1.7.6.1
