Point Cloud Library (PCL)
1.9.1
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SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. More...
#include <pcl/sample_consensus/sac_model_cylinder.h>
Public Member Functions | |
SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, bool random=false) | |
Constructor for base SampleConsensusModelCylinder. More... | |
SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false) | |
Constructor for base SampleConsensusModelCylinder. More... | |
SampleConsensusModelCylinder (const SampleConsensusModelCylinder &source) | |
Copy constructor. More... | |
virtual | ~SampleConsensusModelCylinder () |
Empty destructor. More... | |
SampleConsensusModelCylinder & | operator= (const SampleConsensusModelCylinder &source) |
Copy constructor. More... | |
void | setEpsAngle (const double ea) |
Set the angle epsilon (delta) threshold. More... | |
double | getEpsAngle () |
Get the angle epsilon (delta) threshold. More... | |
void | setAxis (const Eigen::Vector3f &ax) |
Set the axis along which we need to search for a cylinder direction. More... | |
Eigen::Vector3f | getAxis () |
Get the axis along which we need to search for a cylinder direction. More... | |
bool | computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients) const |
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... | |
void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const |
Compute all distances from the cloud data to a given cylinder model. More... | |
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. More... | |
virtual int | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const |
Count all the points which respect the given model coefficients as inliers. More... | |
void | optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const |
Recompute the cylinder coefficients using the given inlier set and return them to the user. More... | |
void | projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) const |
Create a new point cloud with inliers projected onto the cylinder model. More... | |
bool | doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) const |
Verify whether a subset of indices verifies the given cylinder model coefficients. More... | |
pcl::SacModel | getModelType () const |
Return an unique id for this model (SACMODEL_CYLINDER). More... | |
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SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false) | |
Constructor for base SampleConsensusModel. More... | |
SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false) | |
Constructor for base SampleConsensusModel. More... | |
virtual | ~SampleConsensusModel () |
Destructor for base SampleConsensusModel. More... | |
virtual void | getSamples (int &iterations, std::vector< int > &samples) |
Get a set of random data samples and return them as point indices. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
void | setIndices (const boost::shared_ptr< std::vector< int > > &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
void | setIndices (const std::vector< int > &indices) |
Provide the vector of indices that represents the input data. More... | |
boost::shared_ptr< std::vector< int > > | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
unsigned int | getSampleSize () const |
Return the size of a sample from which the model is computed. More... | |
unsigned int | getModelSize () const |
Return the number of coefficients in the model. More... | |
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... | |
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... | |
void | setSamplesMaxDist (const double &radius, SearchPtr search) |
Set the maximum distance allowed when drawing random samples. More... | |
void | getSamplesMaxDist (double &radius) const |
Get maximum distance allowed when drawing random samples. More... | |
double | computeVariance (const std::vector< double > &error_sqr_dists) const |
Compute the variance of the errors to the model. More... | |
double | computeVariance () const |
Compute the variance of the errors to the model from the internally estimated vector of distances. More... | |
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SampleConsensusModelFromNormals () | |
Empty constructor for base SampleConsensusModelFromNormals. More... | |
virtual | ~SampleConsensusModelFromNormals () |
Destructor. More... | |
void | setNormalDistanceWeight (const double w) |
Set the normal angular distance weight. More... | |
double | getNormalDistanceWeight () |
Get the normal angular distance weight. More... | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
PointCloudNConstPtr | getInputNormals () |
Get a pointer to the normals of the input XYZ point cloud dataset. More... | |
Protected Member Functions | |
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... | |
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... | |
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... | |
virtual bool | isModelValid (const Eigen::VectorXf &model_coefficients) const |
Check whether a model is valid given the user constraints. More... | |
bool | isSampleGood (const std::vector< int > &samples) const |
Check if a sample of indices results in a good sample of points indices. More... | |
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SampleConsensusModel (bool random=false) | |
Empty constructor for base SampleConsensusModel. More... | |
void | drawIndexSample (std::vector< int > &sample) |
Fills a sample array with random samples from the indices_ vector. More... | |
void | drawIndexSampleRadius (std::vector< int > &sample) |
Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More... | |
int | rnd () |
Boost-based random number generator. More... | |
Additional Inherited Members | |
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std::string | model_name_ |
The model name. More... | |
PointCloudConstPtr | input_ |
A boost shared pointer to the point cloud data array. More... | |
boost::shared_ptr< std::vector< int > > | indices_ |
A pointer to the vector of point indices to use. More... | |
double | radius_min_ |
The minimum and maximum radius limits for the model. More... | |
double | radius_max_ |
double | samples_radius_ |
The maximum distance of subsequent samples from the first (radius search) More... | |
SearchPtr | samples_radius_search_ |
The search object for picking subsequent samples using radius search. More... | |
std::vector< int > | shuffled_indices_ |
Data containing a shuffled version of the indices. More... | |
boost::mt19937 | rng_alg_ |
Boost-based random number generator algorithm. More... | |
boost::shared_ptr< boost::uniform_int<> > | rng_dist_ |
Boost-based random number generator distribution. More... | |
boost::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > > | rng_gen_ |
Boost-based random number generator. More... | |
std::vector< double > | error_sqr_dists_ |
A vector holding the distances to the computed model. More... | |
unsigned int | sample_size_ |
The size of a sample from which the model is computed. More... | |
unsigned int | model_size_ |
The number of coefficients in the model. More... | |
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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... | |
PointCloudNConstPtr | normals_ |
A pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
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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... | |
SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.
The model coefficients are defined as:
Definition at line 65 of file sac_model_cylinder.h.
typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloud |
Definition at line 77 of file sac_model_cylinder.h.
typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudConstPtr |
Definition at line 79 of file sac_model_cylinder.h.
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelCylinder< PointT, PointNT >::PointCloudPtr |
Definition at line 78 of file sac_model_cylinder.h.
typedef boost::shared_ptr<SampleConsensusModelCylinder> pcl::SampleConsensusModelCylinder< PointT, PointNT >::Ptr |
Definition at line 81 of file sac_model_cylinder.h.
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Constructor for base SampleConsensusModelCylinder.
[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_cylinder.h.
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Constructor for base SampleConsensusModelCylinder.
[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 103 of file sac_model_cylinder.h.
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Copy constructor.
[in] | source | the model to copy into this |
Definition at line 119 of file sac_model_cylinder.h.
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Empty destructor.
Definition at line 130 of file sac_model_cylinder.h.
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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
[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 57 of file sac_model_cylinder.hpp.
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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 >.
Definition at line 226 of file sac_model_cylinder.hpp.
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Verify whether a subset of indices verifies the given cylinder model coefficients.
[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 389 of file sac_model_cylinder.hpp.
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Get the axis along which we need to search for a cylinder direction.
Definition at line 163 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Compute all distances from the cloud data to a given cylinder model.
[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 131 of file sac_model_cylinder.hpp.
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Get the angle epsilon (delta) threshold.
Definition at line 153 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Return an unique id for this model (SACMODEL_CYLINDER).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 239 of file sac_model_cylinder.h.
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Check whether a model is valid given the user constraints.
[in] | model_coefficients | the set of model coefficients |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 442 of file sac_model_cylinder.hpp.
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Check if a sample of indices results in a good sample of points indices.
Pure virtual.
[in] | samples | the resultant index samples |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 50 of file sac_model_cylinder.hpp.
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Copy constructor.
[in] | source | the model to copy into this |
Definition at line 136 of file sac_model_cylinder.h.
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Recompute the cylinder 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 266 of file sac_model_cylinder.hpp.
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Get the distance from a point to a line (represented by a point and a direction)
[in] | pt | a point |
[in] | model_coefficients | the line coefficients (a point on the line, line direction) |
Definition at line 414 of file sac_model_cylinder.hpp.
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Create a new point cloud with inliers projected onto the cylinder model.
[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 303 of file sac_model_cylinder.hpp.
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Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R)
[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 424 of file sac_model_cylinder.hpp.
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Project a point onto a line given by a point and a direction vector.
[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 259 of file sac_model_cylinder.h.
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Select all the points which respect the given model coefficients as inliers.
[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 174 of file sac_model_cylinder.hpp.
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Set the axis along which we need to search for a cylinder direction.
[in] | ax | the axis along which we need to search for a cylinder direction |
Definition at line 159 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().
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Set the angle epsilon (delta) threshold.
[in] | ea | the maximum allowed difference between the cylinder axis and the given axis. |
Definition at line 149 of file sac_model_cylinder.h.
Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().