SampleConsensusModelSphere defines a model for 3D sphere segmentation. More...
#include <pcl/sample_consensus/sac_model_sphere.h>
Classes | |
| struct | OptimizationFunctor |
Public Types | |
| typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
| typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
| typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
| typedef boost::shared_ptr < SampleConsensusModelSphere > | Ptr |
Public Member Functions | |
| SampleConsensusModelSphere (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelSphere. | |
| SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false) | |
| Constructor for base SampleConsensusModelSphere. | |
| virtual | ~SampleConsensusModelSphere () |
| Empty destructor. | |
| SampleConsensusModelSphere (const SampleConsensusModelSphere &source) | |
| Copy constructor. | |
| SampleConsensusModelSphere & | operator= (const SampleConsensusModelSphere &source) |
| Copy constructor. | |
| 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. | |
| void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
| Compute all distances from the cloud data to a given sphere 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 sphere 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 sphere 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 sphere model coefficients. | |
| pcl::SacModel | getModelType () const |
| Return an unique id for this model (SACMODEL_SPHERE). | |
Protected Member Functions | |
| 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. | |
SampleConsensusModelSphere defines a model for 3D sphere segmentation.
The model coefficients are defined as:
Definition at line 60 of file sac_model_sphere.h.
| typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelSphere< PointT >::PointCloud |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 69 of file sac_model_sphere.h.
| typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelSphere< PointT >::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 71 of file sac_model_sphere.h.
| typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelSphere< PointT >::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 70 of file sac_model_sphere.h.
| typedef boost::shared_ptr<SampleConsensusModelSphere> pcl::SampleConsensusModelSphere< PointT >::Ptr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 73 of file sac_model_sphere.h.
| pcl::SampleConsensusModelSphere< PointT >::SampleConsensusModelSphere | ( | const PointCloudConstPtr & | cloud, | |
| bool | random = false | |||
| ) | [inline] |
Constructor for base SampleConsensusModelSphere.
| [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 79 of file sac_model_sphere.h.
| pcl::SampleConsensusModelSphere< PointT >::SampleConsensusModelSphere | ( | const PointCloudConstPtr & | cloud, | |
| const std::vector< int > & | indices, | |||
| bool | random = false | |||
| ) | [inline] |
Constructor for base SampleConsensusModelSphere.
| [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 89 of file sac_model_sphere.h.
| virtual pcl::SampleConsensusModelSphere< PointT >::~SampleConsensusModelSphere | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 96 of file sac_model_sphere.h.
| pcl::SampleConsensusModelSphere< PointT >::SampleConsensusModelSphere | ( | const SampleConsensusModelSphere< PointT > & | source | ) | [inline] |
Copy constructor.
| [in] | source | the model to copy into this |
Definition at line 101 of file sac_model_sphere.h.
| bool pcl::SampleConsensusModelSphere< PointT >::computeModelCoefficients | ( | const std::vector< int > & | samples, | |
| Eigen::VectorXf & | model_coefficients | |||
| ) | [inline, 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.
| [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 56 of file sac_model_sphere.hpp.
References pcl::SampleConsensusModel< PointT >::input_.
| int pcl::SampleConsensusModelSphere< PointT >::countWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, | |
| const double | threshold | |||
| ) | [inline, 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 >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 195 of file sac_model_sphere.hpp.
References pcl::SampleConsensusModel< PointT >::indices_, pcl::SampleConsensusModel< PointT >::input_, and pcl::SampleConsensusModelSphere< PointT >::isModelValid().
| bool pcl::SampleConsensusModelSphere< PointT >::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 sphere model coefficients.
| [in] | indices | the data indices that need to be tested against the sphere model |
| [in] | model_coefficients | the sphere model coefficients |
| [in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 282 of file sac_model_sphere.hpp.
References pcl::SampleConsensusModel< PointT >::input_.
| void pcl::SampleConsensusModelSphere< PointT >::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, | |
| std::vector< double > & | distances | |||
| ) | [inline, virtual] |
Compute all distances from the cloud data to a given sphere model.
| [in] | model_coefficients | the coefficients of a sphere model that we need to compute distances to |
| [out] | distances | the resultant estimated distances |
Implements pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 123 of file sac_model_sphere.hpp.
References pcl::SampleConsensusModel< PointT >::indices_, pcl::SampleConsensusModel< PointT >::input_, and pcl::SampleConsensusModelSphere< PointT >::isModelValid().
| pcl::SacModel pcl::SampleConsensusModelSphere< PointT >::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_SPHERE).
Implements pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 191 of file sac_model_sphere.h.
References pcl::SACMODEL_SPHERE.
| bool pcl::SampleConsensusModelSphere< PointT >::isModelValid | ( | const Eigen::VectorXf & | model_coefficients | ) | [inline, protected, virtual] |
Check whether a model is valid given the user constraints.
| [in] | model_coefficients | the set of model coefficients |
Implements pcl::SampleConsensusModel< PointT >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 198 of file sac_model_sphere.h.
References pcl::SampleConsensusModel< PointT >::radius_max_, and pcl::SampleConsensusModel< PointT >::radius_min_.
Referenced by pcl::SampleConsensusModelSphere< PointT >::countWithinDistance(), pcl::SampleConsensusModelSphere< PointT >::getDistancesToModel(), and pcl::SampleConsensusModelSphere< PointT >::selectWithinDistance().
| bool pcl::SampleConsensusModelSphere< PointT >::isSampleGood | ( | const std::vector< int > & | samples | ) | const [inline, protected, virtual] |
Check if a sample of indices results in a good sample of points indices.
| [in] | samples | the resultant index samples |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 49 of file sac_model_sphere.hpp.
| SampleConsensusModelSphere& pcl::SampleConsensusModelSphere< PointT >::operator= | ( | const SampleConsensusModelSphere< PointT > & | source | ) | [inline] |
Copy constructor.
| [in] | source | the model to copy into this |
Definition at line 111 of file sac_model_sphere.h.
| void pcl::SampleConsensusModelSphere< PointT >::optimizeModelCoefficients | ( | const std::vector< int > & | inliers, | |
| const Eigen::VectorXf & | model_coefficients, | |||
| Eigen::VectorXf & | optimized_coefficients | |||
| ) | [inline, virtual] |
Recompute the sphere 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 226 of file sac_model_sphere.hpp.
| void pcl::SampleConsensusModelSphere< PointT >::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 sphere model.
| [in] | inliers | the data inliers that we want to project on the sphere model |
| [in] | model_coefficients | the coefficients of a sphere 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 259 of file sac_model_sphere.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.
| void pcl::SampleConsensusModelSphere< PointT >::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.
| [in] | model_coefficients | the coefficients of a sphere 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 >.
Reimplemented in pcl::SampleConsensusModelNormalSphere< PointT, PointNT >.
Definition at line 152 of file sac_model_sphere.hpp.
References pcl::SampleConsensusModel< PointT >::error_sqr_dists_, pcl::SampleConsensusModel< PointT >::indices_, pcl::SampleConsensusModel< PointT >::input_, and pcl::SampleConsensusModelSphere< PointT >::isModelValid().
