SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. More...
#include <pcl/sample_consensus/sac_model_cylinder.h>
Public Member Functions |
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| SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelCylinder. More... |
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| SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelCylinder. More... |
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| SampleConsensusModelCylinder (const SampleConsensusModelCylinder &source) | |
| Copy constructor. More... |
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| ~SampleConsensusModelCylinder () | |
| Empty destructor. More... |
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| SampleConsensusModelCylinder & | operator= (const SampleConsensusModelCylinder &source) |
| Copy constructor. More... |
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| void | setEpsAngle (const double ea) |
| Set the angle epsilon (delta) threshold. More... |
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| double | getEpsAngle () const |
| Get the angle epsilon (delta) threshold. More... |
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| void | setAxis (const Eigen::Vector3f &ax) |
| Set the axis along which we need to search for a cylinder direction. More... |
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| Eigen::Vector3f | getAxis () const |
| Get the axis along which we need to search for a cylinder direction. More... |
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| bool | computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override |
| Check whether the given index samples can form a valid cylinder model, compute the model coefficients from these samples and store them in model_coefficients. More... |
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| void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override |
| Compute all distances from the cloud data to a given cylinder model. More... |
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| void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override |
| Select all the points which respect the given model coefficients as inliers. More... |
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| std::size_t | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const override |
| Count all the points which respect the given model coefficients as inliers. More... |
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| void | optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override |
| Recompute the cylinder coefficients using the given inlier set and return them to the user. More... |
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| void | projectPoints (const Indices &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const override |
| Create a new point cloud with inliers projected onto the cylinder model. More... |
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| bool | doSamplesVerifyModel (const std::set< index_t > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const override |
| Verify whether a subset of indices verifies the given cylinder model coefficients. More... |
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| pcl::SacModel | getModelType () const override |
| Return a unique id for this model (SACMODEL_CYLINDER). More... |
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 Public Member Functions inherited from pcl::SampleConsensusModel< PointT > |
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| SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModel. More... |
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| SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModel. More... |
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| virtual | ~SampleConsensusModel () |
| Destructor for base SampleConsensusModel. More... |
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| virtual void | getSamples (int &iterations, Indices &samples) |
| Get a set of random data samples and return them as point indices. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| void | setIndices (const Indices &indices) |
| Provide the vector of indices that represents the input data. More... |
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| IndicesPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| unsigned int | getSampleSize () const |
| Return the size of a sample from which the model is computed. More... |
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| unsigned int | getModelSize () const |
| Return the number of coefficients in the model. More... |
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| 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... |
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| void | getRadiusLimits (double &min_radius, double &max_radius) const |
| Get the minimum and maximum allowable radius limits for the model as set by the user. More... |
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| void | setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function) |
| This can be used to impose any kind of constraint on the model, e.g. More... |
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| void | setSamplesMaxDist (const double &radius, SearchPtr search) |
| Set the maximum distance allowed when drawing random samples. More... |
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| void | getSamplesMaxDist (double &radius) const |
| Get maximum distance allowed when drawing random samples. More... |
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| double | computeVariance (const std::vector< double > &error_sqr_dists) const |
| Compute the variance of the errors to the model. More... |
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| double | computeVariance () const |
| Compute the variance of the errors to the model from the internally estimated vector of distances. More... |
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| Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT > |
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| SampleConsensusModelFromNormals () | |
| Empty constructor for base SampleConsensusModelFromNormals. More... |
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| virtual | ~SampleConsensusModelFromNormals () |
| Destructor. More... |
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| void | setNormalDistanceWeight (const double w) |
| Set the normal angular distance weight. More... |
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| double | getNormalDistanceWeight () const |
| Get the normal angular distance weight. More... |
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. More... |
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Protected Member Functions |
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| double | pointToLineDistance (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients) const |
| Get the distance from a point to a line (represented by a point and a direction) More... |
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| void | projectPointToLine (const Eigen::Vector4f &pt, const Eigen::Vector4f &line_pt, const Eigen::Vector4f &line_dir, Eigen::Vector4f &pt_proj) const |
| Project a point onto a line given by a point and a direction vector. More... |
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| void | projectPointToCylinder (const Eigen::Vector4f &pt, const Eigen::VectorXf &model_coefficients, Eigen::Vector4f &pt_proj) const |
| Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R) More... |
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| bool | isModelValid (const Eigen::VectorXf &model_coefficients) const override |
| Check whether a model is valid given the user constraints. More... |
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| bool | isSampleGood (const Indices &samples) const override |
| Check if a sample of indices results in a good sample of points indices. More... |
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| Protected Member Functions inherited from pcl::SampleConsensusModel< PointT > |
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| SampleConsensusModel (bool random=false) | |
| Empty constructor for base SampleConsensusModel. More... |
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| void | drawIndexSample (Indices &sample) |
| Fills a sample array with random samples from the indices_ vector. More... |
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| void | drawIndexSampleRadius (Indices &sample) |
| Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More... |
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| int | rnd () |
| Boost-based random number generator. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::SampleConsensusModel< PointT > |
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| std::string | model_name_ |
| The model name. More... |
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| PointCloudConstPtr | input_ |
| A boost shared pointer to the point cloud data array. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| double | radius_min_ |
| The minimum and maximum radius limits for the model. More... |
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| double | radius_max_ |
| double | samples_radius_ |
| The maximum distance of subsequent samples from the first (radius search) More... |
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| SearchPtr | samples_radius_search_ |
| The search object for picking subsequent samples using radius search. More... |
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| Indices | shuffled_indices_ |
| Data containing a shuffled version of the indices. More... |
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| boost::mt19937 | rng_alg_ |
| Boost-based random number generator algorithm. More... |
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| std::shared_ptr< boost::uniform_int<> > | rng_dist_ |
| Boost-based random number generator distribution. More... |
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| std::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > > | rng_gen_ |
| Boost-based random number generator. More... |
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| std::vector< double > | error_sqr_dists_ |
| A vector holding the distances to the computed model. More... |
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| unsigned int | sample_size_ |
| The size of a sample from which the model is computed. More... |
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| unsigned int | model_size_ |
| The number of coefficients in the model. More... |
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| std::function< bool(const Eigen::VectorXf &)> | custom_model_constraints_ |
| A user defined function that takes model coefficients and returns whether the model is acceptable or not. More... |
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| Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT > |
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| double | normal_distance_weight_ |
| The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point normals and the plane normal. More... |
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| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT > |
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| static const unsigned int | max_sample_checks_ = 1000 |
| The maximum number of samples to try until we get a good one. More... |
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Detailed Description
template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelCylinder< PointT, PointNT >
SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
The model coefficients are defined as:
- point_on_axis.x : the X coordinate of a point located on the cylinder axis
- point_on_axis.y : the Y coordinate of a point located on the cylinder axis
- point_on_axis.z : the Z coordinate of a point located on the cylinder axis
- axis_direction.x : the X coordinate of the cylinder's axis direction
- axis_direction.y : the Y coordinate of the cylinder's axis direction
- axis_direction.z : the Z coordinate of the cylinder's axis direction
- radius : the cylinder's radius
Definition at line 63 of file sac_model_cylinder.h.
Member Typedef Documentation
ConstPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelCylinder< PointT, PointNT >::ConstPtr = shared_ptr<const SampleConsensusModelCylinder<PointT, PointNT> > |
Definition at line 80 of file sac_model_cylinder.h.
PointCloud
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloud = typename SampleConsensusModel<PointT>::PointCloud |
Definition at line 75 of file sac_model_cylinder.h.
PointCloudConstPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr |
Definition at line 77 of file sac_model_cylinder.h.
PointCloudPtr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr |
Definition at line 76 of file sac_model_cylinder.h.
Ptr
template<typename PointT , typename PointNT >
| using pcl::SampleConsensusModelCylinder< PointT, PointNT >::Ptr = shared_ptr<SampleConsensusModelCylinder<PointT, PointNT> > |
Definition at line 79 of file sac_model_cylinder.h.
Constructor & Destructor Documentation
SampleConsensusModelCylinder() [1/3]
template<typename PointT , typename PointNT >
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inline |
Constructor for base SampleConsensusModelCylinder.
- Parameters
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[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_cylinder.h.
SampleConsensusModelCylinder() [2/3]
template<typename PointT , typename PointNT >
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inline |
Constructor for base SampleConsensusModelCylinder.
- Parameters
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[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_cylinder.h.
SampleConsensusModelCylinder() [3/3]
template<typename PointT , typename PointNT >
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inline |
Copy constructor.
- Parameters
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[in] source the model to copy into this
Definition at line 118 of file sac_model_cylinder.h.
~SampleConsensusModelCylinder()
template<typename PointT , typename PointNT >
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inline |
Empty destructor.
Definition at line 129 of file sac_model_cylinder.h.
Member Function Documentation
computeModelCoefficients()
template<typename PointT , typename PointNT >
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overridevirtual |
Check whether the given index samples can form a valid cylinder model, compute the model coefficients from these samples and store them in model_coefficients.
The cylinder coefficients are: point_on_axis, axis_direction, cylinder_radius_R
- Parameters
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[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 63 of file sac_model_cylinder.hpp.
countWithinDistance()
template<typename PointT , typename PointNT >
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overridevirtual |
Count all the points which respect the given model coefficients as inliers.
- Parameters
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[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 235 of file sac_model_cylinder.hpp.
doSamplesVerifyModel()
template<typename PointT , typename PointNT >
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overridevirtual |
Verify whether a subset of indices verifies the given cylinder model coefficients.
- Parameters
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[in] indices the data indices that need to be tested against the cylinder model [in] model_coefficients the cylinder model coefficients [in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 403 of file sac_model_cylinder.hpp.
getAxis()
template<typename PointT , typename PointNT >
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inline |
Get the axis along which we need to search for a cylinder direction.
Definition at line 162 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
getDistancesToModel()
template<typename PointT , typename PointNT >
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overridevirtual |
Compute all distances from the cloud data to a given cylinder model.
- Parameters
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[in] model_coefficients the coefficients of a cylinder model that we need to compute distances to [out] distances the resultant estimated distances
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 140 of file sac_model_cylinder.hpp.
getEpsAngle()
template<typename PointT , typename PointNT >
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inline |
Get the angle epsilon (delta) threshold.
Definition at line 152 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
getModelType()
template<typename PointT , typename PointNT >
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inlineoverridevirtual |
Return a unique id for this model (SACMODEL_CYLINDER).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 238 of file sac_model_cylinder.h.
isModelValid()
template<typename PointT , typename PointNT >
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overrideprotectedvirtual |
Check whether a model is valid given the user constraints.
- Parameters
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[in] model_coefficients the set of model coefficients
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 456 of file sac_model_cylinder.hpp.
isSampleGood()
template<typename PointT , typename PointNT >
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overrideprotectedvirtual |
Check if a sample of indices results in a good sample of points indices.
Pure virtual.
- Parameters
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[in] samples the resultant index samples
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 51 of file sac_model_cylinder.hpp.
operator=()
template<typename PointT , typename PointNT >
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inline |
Copy constructor.
- Parameters
-
[in] source the model to copy into this
Definition at line 135 of file sac_model_cylinder.h.
optimizeModelCoefficients()
template<typename PointT , typename PointNT >
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overridevirtual |
Recompute the cylinder coefficients using the given inlier set and return them to the user.
- Note
- : these are the coefficients of the cylinder model after refinement (e.g. after SVD)
- Parameters
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[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 277 of file sac_model_cylinder.hpp.
pointToLineDistance()
template<typename PointT , typename PointNT >
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protected |
Get the distance from a point to a line (represented by a point and a direction)
- Parameters
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[in] pt a point [in] model_coefficients the line coefficients (a point on the line, line direction)
Definition at line 428 of file sac_model_cylinder.hpp.
projectPoints()
template<typename PointT , typename PointNT >
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overridevirtual |
Create a new point cloud with inliers projected onto the cylinder model.
- Parameters
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[in] inliers the data inliers that we want to project on the cylinder model [in] model_coefficients the coefficients of a cylinder 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 315 of file sac_model_cylinder.hpp.
projectPointToCylinder()
template<typename PointT , typename PointNT >
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protected |
Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R)
- Parameters
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[in] pt the input point to project [in] model_coefficients the coefficients of the cylinder (point_on_axis, axis_direction, cylinder_radius_R) [out] pt_proj the resultant projected point
Definition at line 438 of file sac_model_cylinder.hpp.
projectPointToLine()
template<typename PointT , typename PointNT >
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inlineprotected |
Project a point onto a line given by a point and a direction vector.
- Parameters
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[in] pt the input point to project [in] line_pt the point on the line (make sure that line_pt[3] = 0 as there are no internal checks!) [in] line_dir the direction of the line (make sure that line_dir[3] = 0 as there are no internal checks!) [out] pt_proj the resultant projected point
Definition at line 258 of file sac_model_cylinder.h.
selectWithinDistance()
template<typename PointT , typename PointNT >
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overridevirtual |
Select all the points which respect the given model coefficients as inliers.
- Parameters
-
[in] model_coefficients the coefficients of a cylinder 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 183 of file sac_model_cylinder.hpp.
setAxis()
template<typename PointT , typename PointNT >
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inline |
Set the axis along which we need to search for a cylinder direction.
- Parameters
-
[in] ax the axis along which we need to search for a cylinder direction
Definition at line 158 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
setEpsAngle()
template<typename PointT , typename PointNT >
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inline |
Set the angle epsilon (delta) threshold.
- Parameters
-
[in] ea the maximum allowed difference between the cylinder axis and the given axis.
Definition at line 148 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
The documentation for this class was generated from the following files:
- pcl/sample_consensus/sac_model_cylinder.h
- pcl/sample_consensus/impl/sac_model_cylinder.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_sample_consensus_model_cylinder.html
