SampleConsensusModelStick defines a model for 3D stick segmentation. More...

#include <pcl/sample_consensus/sac_model_stick.h>

Inheritance diagram for pcl::SampleConsensusModelStick< PointT >:

Collaboration diagram for pcl::SampleConsensusModelStick< PointT >:

Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef boost::shared_ptr < SampleConsensusModelStick >	Ptr
typedef pcl::search::Search < PointT >::Ptr	SearchPtr
typedef boost::shared_ptr < const SampleConsensusModel >	ConstPtr
Public Member Functions
	SampleConsensusModelStick (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelStick.
	SampleConsensusModelStick (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelStick.
bool	computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)
	Check whether the given index samples can form a valid stick model, compute the model coefficients from these samples and store them internally in model_coefficients_.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all squared distances from the cloud data to a given stick 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 stick 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 stick 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 stick model coefficients.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_STACK).
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.
Friends
class	ProgressiveSampleConsensus< PointT >

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelStick< PointT >

SampleConsensusModelStick defines a model for 3D stick segmentation.

A stick is a line with an user given minimum/maximum width. The model coefficients are defined as:

point_on_line.x : the X coordinate of a point on the line
point_on_line.y : the Y coordinate of a point on the line
point_on_line.z : the Z coordinate of a point on the line
line_direction.x : the X coordinate of a line's direction
line_direction.y : the Y coordinate of a line's direction
line_direction.z : the Z coordinate of a line's direction
line_width : the width of the line
Author:
Radu B. Rusu

Definition at line 63 of file sac_model_stick.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel< PointT >::ConstPtr [inherited]

Definition at line 74 of file sac_model.h.

template<typename PointT >

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelStick< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 71 of file sac_model_stick.h.

template<typename PointT >

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelStick< PointT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 73 of file sac_model_stick.h.

template<typename PointT >

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelStick< PointT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 72 of file sac_model_stick.h.

template<typename PointT >

typedef boost::shared_ptr<SampleConsensusModelStick> pcl::SampleConsensusModelStick< PointT >::Ptr

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 75 of file sac_model_stick.h.

template<typename PointT>

typedef pcl::search::Search<PointT>::Ptr pcl::SampleConsensusModel< PointT >::SearchPtr [inherited]

Definition at line 71 of file sac_model.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::SampleConsensusModelStick< PointT >::SampleConsensusModelStick ( const PointCloudConstPtr & cloud ) [inline]

Constructor for base SampleConsensusModelStick.

Parameters:

[in] cloud the input point cloud dataset

Definition at line 80 of file sac_model_stick.h.

template<typename PointT >

pcl::SampleConsensusModelStick< PointT >::SampleConsensusModelStick	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices
	)		`[inline]`

Constructor for base SampleConsensusModelStick.

Parameters:

[in]	cloud	the input point cloud dataset
[in]	indices	a vector of point indices to be used from cloud

Definition at line 86 of file sac_model_stick.h.

Member Function Documentation

template<typename PointT >

bool pcl::SampleConsensusModelStick< PointT >::computeModelCoefficients	(	const std::vector< int > &	samples,
		Eigen::VectorXf &	model_coefficients
	)		`[virtual]`

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

The stick coefficients are represented by a point and a line direction

Parameters:

[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 62 of file sac_model_stick.hpp.

template<typename PointT >

int pcl::SampleConsensusModelStick< 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_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

Returns:: the resultant number of inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 169 of file sac_model_stick.hpp.

template<typename PointT >

bool pcl::SampleConsensusModelStick< 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 stick model coefficients.

Parameters:

[in]	indices	the data indices that need to be tested against the plane model
[in]	model_coefficients	the plane model coefficients
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 328 of file sac_model_stick.hpp.

template<typename PointT >

void pcl::SampleConsensusModelStick< PointT >::getDistancesToModel	(	const Eigen::VectorXf &	model_coefficients,
		std::vector< double > &	distances
	)		`[virtual]`

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

Parameters:

[in]	model_coefficients	the coefficients of a stick model that we need to compute distances to
[out]	distances	the resultant estimated squared distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 93 of file sac_model_stick.hpp.

template<typename PointT>

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.

template<typename PointT>

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.

template<typename PointT >

pcl::SacModel pcl::SampleConsensusModelStick< PointT >::getModelType ( ) const [inline, virtual]

Return an unique id for this model (SACMODEL_STACK).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 161 of file sac_model_stick.h.

template<typename PointT>

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.

Parameters:

[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.

template<typename PointT>

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.

Parameters:

[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.

template<typename PointT>

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.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::getSamplesMaxDist ( double & radius ) [inline, inherited]

Get maximum distance allowed when drawing random samples.

Parameters:

[out] radius the maximum distance (L2 norm)

Definition at line 384 of file sac_model.h.

template<typename PointT >

void pcl::SampleConsensusModelStick< PointT >::optimizeModelCoefficients	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)		`[virtual]`

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

Note:: : these are the coefficients of the stick model after refinement (eg. after SVD)

Parameters:

[in]	inliers	the data inliers found as supporting the model
[in]	model_coefficients	the initial guess for the model coefficients
[out]	optimized_coefficients	the resultant recomputed coefficients after optimization

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 214 of file sac_model_stick.hpp.

template<typename PointT >

void pcl::SampleConsensusModelStick< 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 stick model.

Parameters:

[in]	inliers	the data inliers that we want to project on the stick model
[in]	model_coefficients	the normalized coefficients of a stick 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 255 of file sac_model_stick.hpp.

template<typename PointT >

void pcl::SampleConsensusModelStick< 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_coefficients	the coefficients of a stick 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 126 of file sac_model_stick.hpp.

template<typename PointT>

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.

Parameters:

[in] indices a pointer to the vector of indices that represents the input data.

Definition at line 309 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setIndices ( const std::vector< int > & indices ) [inline, inherited]

Provide the vector of indices that represents the input data.

Parameters:

[out] indices the vector of indices that represents the input data.

Definition at line 319 of file sac_model.h.

template<typename PointT>

virtual void pcl::SampleConsensusModel< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

[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.

template<typename PointT>

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)

Parameters:

[in]	min_radius	the minimum radius model
[in]	max_radius	the maximum radius model

Definition at line 350 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setSamplesMaxDist	(	const double &	radius,
		SearchPtr	search
	)		`[inline, inherited]`

Set the maximum distance allowed when drawing random samples.

Parameters:

[in] radius the maximum distance (L2 norm)

Definition at line 373 of file sac_model.h.

Friends And Related Function Documentation

template<typename PointT>

friend class ProgressiveSampleConsensus< PointT > [friend, inherited]

Definition at line 389 of file sac_model.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/sample_consensus/include/pcl/sample_consensus/sac_model_stick.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/sample_consensus/include/pcl/sample_consensus/impl/sac_model_stick.hpp

Public Types

Public Member Functions

Friends

Detailed Description

template<typename PointT> class pcl::SampleConsensusModelStick< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

template<typename PointT>
class pcl::SampleConsensusModelStick< PointT >