SampleConsensusModelSphere defines a model for 3D sphere segmentation. More...
#include <pcl/sample_consensus/sac_model_sphere.h>
Public Types |
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| using | PointCloud = typename SampleConsensusModel< PointT >::PointCloud |
| using | PointCloudPtr = typename SampleConsensusModel< PointT >::PointCloudPtr |
| using | PointCloudConstPtr = typename SampleConsensusModel< PointT >::PointCloudConstPtr |
| using | Ptr = shared_ptr< SampleConsensusModelSphere< PointT > > |
| using | ConstPtr = shared_ptr< const SampleConsensusModelSphere< PointT > > |
 Public Types inherited from pcl::SampleConsensusModel< PointT > |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | SearchPtr = typename pcl::search::Search< PointT >::Ptr |
| using | Ptr = shared_ptr< SampleConsensusModel< PointT > > |
| using | ConstPtr = shared_ptr< const SampleConsensusModel< PointT > > |
Public Member Functions |
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| SampleConsensusModelSphere (const PointCloudConstPtr &cloud, bool random=false) | |
| Constructor for base SampleConsensusModelSphere. More... |
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| SampleConsensusModelSphere (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
| Constructor for base SampleConsensusModelSphere. More... |
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| ~SampleConsensusModelSphere () | |
| Empty destructor. More... |
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| SampleConsensusModelSphere (const SampleConsensusModelSphere &source) | |
| Copy constructor. More... |
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| SampleConsensusModelSphere & | operator= (const SampleConsensusModelSphere &source) |
| Copy constructor. 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 sphere model, compute the model coefficients from these samples and store them internally 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 sphere 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 sphere 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 sphere 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 sphere model coefficients. More... |
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| pcl::SacModel | getModelType () const override |
| Return a unique id for this model (SACMODEL_SPHERE). 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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| 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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| std::size_t | countWithinDistanceStandard (const Eigen::VectorXf &model_coefficients, const double threshold, std::size_t i=0) const |
| This implementation uses no SIMD instructions. 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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| 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::SampleConsensusModelSphere< PointT >
SampleConsensusModelSphere defines a model for 3D sphere segmentation.
The model coefficients are defined as:
- center.x : the X coordinate of the sphere's center
- center.y : the Y coordinate of the sphere's center
- center.z : the Z coordinate of the sphere's center
- radius : the sphere's radius
Definition at line 66 of file sac_model_sphere.h.
Member Typedef Documentation
ConstPtr
template<typename PointT >
| using pcl::SampleConsensusModelSphere< PointT >::ConstPtr = shared_ptr<const SampleConsensusModelSphere<PointT> > |
Definition at line 81 of file sac_model_sphere.h.
PointCloud
template<typename PointT >
| using pcl::SampleConsensusModelSphere< PointT >::PointCloud = typename SampleConsensusModel<PointT>::PointCloud |
Definition at line 76 of file sac_model_sphere.h.
PointCloudConstPtr
template<typename PointT >
| using pcl::SampleConsensusModelSphere< PointT >::PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr |
Definition at line 78 of file sac_model_sphere.h.
PointCloudPtr
template<typename PointT >
| using pcl::SampleConsensusModelSphere< PointT >::PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr |
Definition at line 77 of file sac_model_sphere.h.
Ptr
template<typename PointT >
| using pcl::SampleConsensusModelSphere< PointT >::Ptr = shared_ptr<SampleConsensusModelSphere<PointT> > |
Definition at line 80 of file sac_model_sphere.h.
Constructor & Destructor Documentation
SampleConsensusModelSphere() [1/3]
template<typename PointT >
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inline |
Constructor for base SampleConsensusModelSphere.
- 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 87 of file sac_model_sphere.h.
SampleConsensusModelSphere() [2/3]
template<typename PointT >
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inline |
Constructor for base SampleConsensusModelSphere.
- 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 101 of file sac_model_sphere.h.
~SampleConsensusModelSphere()
template<typename PointT >
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inline |
Empty destructor.
Definition at line 112 of file sac_model_sphere.h.
SampleConsensusModelSphere() [3/3]
template<typename PointT >
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inline |
Copy constructor.
- Parameters
-
[in] source the model to copy into this
Definition at line 117 of file sac_model_sphere.h.
Member Function Documentation
computeModelCoefficients()
template<typename PointT >
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overridevirtual |
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.
- 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 61 of file sac_model_sphere.hpp.
countWithinDistance()
template<typename PointT >
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overridevirtual |
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 218 of file sac_model_sphere.hpp.
countWithinDistanceStandard()
template<typename PointT >
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protected |
This implementation uses no SIMD instructions.
It is not intended for normal use. See countWithinDistance which automatically uses the fastest implementation.
Definition at line 236 of file sac_model_sphere.hpp.
doSamplesVerifyModel()
template<typename PointT >
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overridevirtual |
Verify whether a subset of indices verifies the given sphere model coefficients.
- Parameters
-
[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 451 of file sac_model_sphere.hpp.
getDistancesToModel()
template<typename PointT >
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overridevirtual |
Compute all distances from the cloud data to a given sphere model.
- Parameters
-
[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 >.
Definition at line 159 of file sac_model_sphere.hpp.
getModelType()
template<typename PointT >
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inlineoverridevirtual |
Return a unique id for this model (SACMODEL_SPHERE).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 207 of file sac_model_sphere.h.
isModelValid()
template<typename PointT >
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inlineoverrideprotectedvirtual |
Check whether a model is valid given the user constraints.
- Parameters
-
[in] model_coefficients the set of model coefficients
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 217 of file sac_model_sphere.h.
isSampleGood()
template<typename PointT >
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overrideprotectedvirtual |
Check if a sample of indices results in a good sample of points indices.
- Parameters
-
[in] samples the resultant index samples
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 49 of file sac_model_sphere.hpp.
operator=()
template<typename PointT >
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inline |
Copy constructor.
- Parameters
-
[in] source the model to copy into this
Definition at line 128 of file sac_model_sphere.h.
optimizeModelCoefficients()
template<typename PointT >
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overridevirtual |
Recompute the sphere coefficients using the given inlier set and return them to the user.
- Note
- : these are the coefficients of the sphere model after refinement (e.g. 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 337 of file sac_model_sphere.hpp.
projectPoints()
template<typename PointT >
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overridevirtual |
Create a new point cloud with inliers projected onto the sphere model.
- Parameters
-
[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
- Todo:
- implement this.
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 368 of file sac_model_sphere.hpp.
selectWithinDistance()
template<typename PointT >
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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 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 >.
Definition at line 182 of file sac_model_sphere.hpp.
The documentation for this class was generated from the following files:
- pcl/sample_consensus/sac_model_sphere.h
- pcl/sample_consensus/impl/sac_model_sphere.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_sphere.html
