SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints. More...
#include <pcl/sample_consensus/sac_model_parallel_line.h>
Public Member Functions |
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| SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelParallelLine. More... |
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| SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelParallelLine. More... |
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| ~SampleConsensusModelParallelLine () | |
| Empty destructor. More... |
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| void | setAxis (const Eigen::Vector3f &ax) |
| Set the axis along which we need to search for a line. More... |
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| Eigen::Vector3f | getAxis () const |
| Get the axis along which we need to search for a line. 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 (in radians). 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 | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override |
| Compute all squared distances from the cloud data to a given line model. More... |
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| pcl::SacModel | getModelType () const override |
| Return a unique id for this model (SACMODEL_PARALLEL_LINE). More... |
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 Public Member Functions inherited from pcl::SampleConsensusModelLine< PointT > |
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| SampleConsensusModelLine (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelLine. More... |
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| SampleConsensusModelLine (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelLine. More... |
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| ~SampleConsensusModelLine () | |
| Empty destructor. 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 line model, compute the model coefficients from these samples and store them internally in model_coefficients_. More... |
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| void | optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override |
| Recompute the line 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 line 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 line model coefficients. 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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Protected Member Functions |
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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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| Protected Member Functions inherited from pcl::SampleConsensusModelLine< PointT > |
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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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Protected Attributes |
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| Eigen::Vector3f | axis_ |
| The axis along which we need to search for a line. More... |
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| double | eps_angle_ |
| The maximum allowed difference between the line direction and the given axis. More... |
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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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Additional Inherited Members |
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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>
class pcl::SampleConsensusModelParallelLine< PointT >
SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints.
Checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the line's direction and a user-specified axis.
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
Definition at line 65 of file sac_model_parallel_line.h.
Member Typedef Documentation
ConstPtr
| using pcl::SampleConsensusModelParallelLine< PointT >::ConstPtr = shared_ptr<const SampleConsensusModelParallelLine<PointT> > |
Definition at line 75 of file sac_model_parallel_line.h.
PointCloud
| using pcl::SampleConsensusModelParallelLine< PointT >::PointCloud = typename SampleConsensusModelLine<PointT>::PointCloud |
Definition at line 70 of file sac_model_parallel_line.h.
PointCloudConstPtr
| using pcl::SampleConsensusModelParallelLine< PointT >::PointCloudConstPtr = typename SampleConsensusModelLine<PointT>::PointCloudConstPtr |
Definition at line 72 of file sac_model_parallel_line.h.
PointCloudPtr
| using pcl::SampleConsensusModelParallelLine< PointT >::PointCloudPtr = typename SampleConsensusModelLine<PointT>::PointCloudPtr |
Definition at line 71 of file sac_model_parallel_line.h.
Ptr
| using pcl::SampleConsensusModelParallelLine< PointT >::Ptr = shared_ptr<SampleConsensusModelParallelLine<PointT> > |
Definition at line 74 of file sac_model_parallel_line.h.
Constructor & Destructor Documentation
SampleConsensusModelParallelLine() [1/2]
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inline |
Constructor for base SampleConsensusModelParallelLine.
- 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 81 of file sac_model_parallel_line.h.
References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.
SampleConsensusModelParallelLine() [2/2]
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inline |
Constructor for base SampleConsensusModelParallelLine.
- 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 97 of file sac_model_parallel_line.h.
References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.
~SampleConsensusModelParallelLine()
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inline |
Empty destructor.
Definition at line 110 of file sac_model_parallel_line.h.
Member Function Documentation
countWithinDistance()
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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
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 64 of file sac_model_parallel_line.hpp.
getAxis()
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inline |
Get the axis along which we need to search for a line.
Definition at line 120 of file sac_model_parallel_line.h.
References pcl::SampleConsensusModelParallelLine< PointT >::axis_.
Referenced by pcl::SACSegmentation< PointT >::initSACModel().
getDistancesToModel()
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overridevirtual |
Compute all squared distances from the cloud data to a given line model.
- Parameters
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[in] model_coefficients the coefficients of a line model that we need to compute distances to [out] distances the resultant estimated squared distances
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 78 of file sac_model_parallel_line.hpp.
getEpsAngle()
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inline |
Get the angle epsilon (delta) threshold (in radians).
Definition at line 129 of file sac_model_parallel_line.h.
References pcl::SampleConsensusModelParallelLine< PointT >::eps_angle_.
Referenced by pcl::SACSegmentation< PointT >::initSACModel().
getModelType()
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inlineoverridevirtual |
Return a unique id for this model (SACMODEL_PARALLEL_LINE).
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 161 of file sac_model_parallel_line.h.
References pcl::SACMODEL_PARALLEL_LINE.
isModelValid()
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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 93 of file sac_model_parallel_line.hpp.
References pcl::getAngle3D(), and M_PI.
selectWithinDistance()
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overridevirtual |
Select all the points which respect the given model coefficients as inliers.
- Parameters
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[in] model_coefficients the coefficients of a line 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
Reimplemented from pcl::SampleConsensusModelLine< PointT >.
Definition at line 49 of file sac_model_parallel_line.hpp.
setAxis()
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inline |
Set the axis along which we need to search for a line.
- Parameters
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[in] ax the axis along which we need to search for a line
Definition at line 116 of file sac_model_parallel_line.h.
References pcl::SampleConsensusModelParallelLine< PointT >::axis_.
Referenced by pcl::SACSegmentation< PointT >::initSACModel().
setEpsAngle()
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inline |
Set the angle epsilon (delta) threshold.
- Parameters
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[in] ea the maximum allowed difference between the line direction and the given axis (in radians).
Definition at line 126 of file sac_model_parallel_line.h.
References pcl::SampleConsensusModelParallelLine< PointT >::eps_angle_.
Referenced by pcl::SACSegmentation< PointT >::initSACModel().
Member Data Documentation
axis_
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protected |
The axis along which we need to search for a line.
Definition at line 174 of file sac_model_parallel_line.h.
Referenced by pcl::SampleConsensusModelParallelLine< PointT >::getAxis(), and pcl::SampleConsensusModelParallelLine< PointT >::setAxis().
eps_angle_
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protected |
The maximum allowed difference between the line direction and the given axis.
Definition at line 177 of file sac_model_parallel_line.h.
Referenced by pcl::SampleConsensusModelParallelLine< PointT >::getEpsAngle(), and pcl::SampleConsensusModelParallelLine< PointT >::setEpsAngle().
The documentation for this class was generated from the following files:
- pcl/sample_consensus/sac_model_parallel_line.h
- pcl/sample_consensus/impl/sac_model_parallel_line.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_parallel_line.html
