pcl::SampleConsensusModelCone< PointT, PointNT > Class Template Reference
[Module sample_consensus]

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

#include <pcl/sample_consensus/sac_model_cone.h>

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

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List of all members.

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
Public Member Functions
	SampleConsensusModelCone (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelCone.
	SampleConsensusModelCone (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelCone.
	SampleConsensusModelCone (const SampleConsensusModelCone &source)
	Copy constructor.
virtual	~SampleConsensusModelCone ()
	Empty destructor.
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).
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).
std::string	getName () const
	Get a string representation of the name of this class.
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.
bool	isSampleGood (const std::vector< int > &samples) const
	Check if a sample of indices results in a good sample of points indices.

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:

apex.x : the X coordinate of cone's apex
apex.y : the Y coordinate of cone's apex
apex.z : the Z coordinate of cone's apex
axis_direction.x : the X coordinate of the cone's axis direction
axis_direction.y : the Y coordinate of the cone's axis direction
axis_direction.z : the Z coordinate of the cone's axis direction
opening_angle : the cone's opening angle

Author:: Stefan Schrandt

Definition at line 65 of file sac_model_cone.h.

Member Typedef Documentation

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 76 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 78 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

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

Definition at line 102 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] source the model to copy into this

Definition at line 118 of file sac_model_cone.h.

template<typename PointT, typename PointNT>

virtual pcl::SampleConsensusModelCone< PointT, PointNT >::~SampleConsensusModelCone ( ) [inline, virtual]

Empty destructor.

Definition at line 127 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
	)			`[inline, 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]`	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 55 of file sac_model_cone.hpp.

References pcl::SampleConsensusModel< PointT >::input_, and pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_.

template<typename PointT , typename PointNT >

int pcl::SampleConsensusModelCone< PointT, PointNT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)			`[inline, 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 255 of file sac_model_cone.hpp.

References pcl::getAngle3D(), pcl::SampleConsensusModel< PointT >::indices_, pcl::SampleConsensusModel< PointT >::input_, pcl::SampleConsensusModelCone< PointT, PointNT >::isModelValid(), pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normal_distance_weight_, pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_, and pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance().

template<typename PointT , typename PointNT >

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

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

Parameters:

`[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 438 of file sac_model_cone.hpp.

References pcl::SampleConsensusModel< PointT >::input_, and pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance().

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 162 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
	)			`[inline, virtual]`

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

Parameters:

`[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 137 of file sac_model_cone.hpp.

References pcl::getAngle3D(), pcl::SampleConsensusModel< PointT >::indices_, pcl::SampleConsensusModel< PointT >::input_, pcl::SampleConsensusModelCone< PointT, PointNT >::isModelValid(), pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normal_distance_weight_, pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_, and pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance().

template<typename PointT, typename PointNT>

double pcl::SampleConsensusModelCone< PointT, PointNT >::getEpsAngle ( ) const [inline]

Get the angle epsilon (delta) threshold.

Definition at line 152 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 minumum to validate a cone model.

Parameters:

`[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 181 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 [inline, virtual]

Return an unique id for this model (SACMODEL_CONE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 262 of file sac_model_cone.h.

References pcl::SACMODEL_CONE.

template<typename PointT, typename PointNT>

std::string pcl::SampleConsensusModelCone< PointT, PointNT >::getName ( ) const [inline, protected]

Get a string representation of the name of this class.

Definition at line 274 of file sac_model_cone.h.

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< PointT, PointNT >::isModelValid ( const Eigen::VectorXf & model_coefficients ) [inline, protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:

[in] model_coefficients the set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 491 of file sac_model_cone.hpp.

References pcl::getAngle3D().

Referenced by pcl::SampleConsensusModelCone< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelCone< PointT, PointNT >::getDistancesToModel(), and pcl::SampleConsensusModelCone< PointT, PointNT >::selectWithinDistance().

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< PointT, PointNT >::isSampleGood ( const std::vector< int > & samples ) const [inline, protected, virtual]

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

Pure virtual.

Parameters:

[in] samples the 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] source the model to copy into this

Definition at line 133 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
	)			`[inline, 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 (eg. after SVD)

Parameters:

`[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 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
	)			`[inline, protected]`

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

Parameters:

`[in]`	pt	a point
`[in]`	model_coefficients	the line coefficients (a point on the line, line direction)

Definition at line 481 of file sac_model_cone.hpp.

References pcl::sqrPointToLineDistance().

Referenced by pcl::SampleConsensusModelCone< PointT, PointNT >::countWithinDistance(), pcl::SampleConsensusModelCone< PointT, PointNT >::doSamplesVerifyModel(), pcl::SampleConsensusModelCone< PointT, PointNT >::getDistancesToModel(), and pcl::SampleConsensusModelCone< PointT, PointNT >::selectWithinDistance().

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`
	)			`[inline, virtual]`

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

Parameters:

`[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 342 of file sac_model_cone.hpp.

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

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		std::vector< int > &	inliers
	)			`[inline, virtual]`

Select all the points which respect the given model coefficients as inliers.

Parameters:

`[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 189 of file sac_model_cone.hpp.

References pcl::SampleConsensusModel< PointT >::error_sqr_dists_, pcl::getAngle3D(), pcl::SampleConsensusModel< PointT >::indices_, pcl::SampleConsensusModel< PointT >::input_, pcl::SampleConsensusModelCone< PointT, PointNT >::isModelValid(), pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normal_distance_weight_, pcl::SampleConsensusModelFromNormals< PointT, PointNT >::normals_, and pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance().

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] ax the axis along which we need to search for a cone direction

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 >::setEpsAngle ( double ea ) [inline]

Set the angle epsilon (delta) threshold.

Parameters:

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

Definition at line 148 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_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 170 of file sac_model_cone.h.

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

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

/builddir/build/BUILD/pcl-pcl-1.7.1/sample_consensus/include/pcl/sample_consensus/sac_model_cone.h
/builddir/build/BUILD/pcl-pcl-1.7.1/sample_consensus/include/pcl/sample_consensus/impl/sac_model_cone.hpp

pcl::SampleConsensusModelCone< PointT, PointNT > Class Template Reference [Module sample_consensus]

Classes

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

pcl::SampleConsensusModelCone< PointT, PointNT > Class Template Reference
[Module sample_consensus]

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