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SampleConsensusModelCone defines a model for 3D cone segmentation. More...

#include <pcl/sample_consensus/sac_model_cone.h>

Public Types
using	PointCloud = typename SampleConsensusModel< PointT >::PointCloud

using	PointCloudPtr = typename SampleConsensusModel< PointT >::PointCloudPtr

using	PointCloudConstPtr = typename SampleConsensusModel< PointT >::PointCloudConstPtr

using	Ptr = shared_ptr< SampleConsensusModelCone< PointT, PointNT > >

using	ConstPtr = shared_ptr< const SampleConsensusModelCone< PointT, PointNT > >

Public Types inherited from pcl::SampleConsensusModel< PointT >
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 Types inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
using	PointCloudNConstPtr = typename pcl::PointCloud< PointNT >::ConstPtr

using	PointCloudNPtr = typename pcl::PointCloud< PointNT >::Ptr

using	Ptr = shared_ptr< SampleConsensusModelFromNormals< PointT, PointNT > >

using	ConstPtr = shared_ptr< const SampleConsensusModelFromNormals< PointT, PointNT > >

Public Member Functions
	SampleConsensusModelCone (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelCone. More...

	SampleConsensusModelCone (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
	Constructor for base SampleConsensusModelCone. More...

	SampleConsensusModelCone (const SampleConsensusModelCone &source)
	Copy constructor. More...

	~SampleConsensusModelCone ()
	Empty destructor. More...

SampleConsensusModelCone &	operator= (const SampleConsensusModelCone &source)
	Copy constructor. More...

void	setEpsAngle (double ea)
	Set the angle epsilon (delta) threshold. More...

double	getEpsAngle () const
	Get the angle epsilon (delta) threshold. More...

void	setAxis (const Eigen::Vector3f &ax)
	Set the axis along which we need to search for a cone direction. More...

Eigen::Vector3f	getAxis () const
	Get the axis along which we need to search for a cone direction. More...

void	setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
	Set the minimum and maximum allowable opening angle for a cone model given from a user. More...

void	getMinMaxOpeningAngle (double &min_angle, double &max_angle) const
	Get the opening angle which we need minimum to validate a cone model. More...

bool	computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override
	Check whether the given index samples can form a valid cone 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 override
	Compute all distances from the cloud data to a given cone model. More...

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...

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...

void	optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
	Recompute the cone coefficients using the given inlier set and return them to the user. More...

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 cone model. More...

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 cone model coefficients. More...

pcl::SacModel	getModelType () const override
	Return a unique id for this model (SACMODEL_CONE). More...

Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModel. More...

	SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
	Constructor for base SampleConsensusModel. More...

virtual	~SampleConsensusModel ()
	Destructor for base SampleConsensusModel. More...

virtual void	getSamples (int &iterations, Indices &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 IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const Indices &indices)
	Provide the vector of indices that represents the input data. More...

IndicesPtr	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	setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function)
	This can be used to impose any kind of constraint on the model, e.g. 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...

Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
	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 () const
	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 () const
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Protected Member Functions
double	pointToAxisDistance (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...

bool	isModelValid (const Eigen::VectorXf &model_coefficients) const override
	Check whether a model is valid given the user constraints. More...

bool	isSampleGood (const Indices &samples) const override
	Check if a sample of indices results in a good sample of points indices. More...

Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (bool random=false)
	Empty constructor for base SampleConsensusModel. More...

void	drawIndexSample (Indices &sample)
	Fills a sample array with random samples from the indices_ vector. More...

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...

int	rnd ()
	Boost-based random number generator. More...

Additional Inherited Members
Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
std::string	model_name_
	The model name. More...

PointCloudConstPtr	input_
	A boost shared pointer to the point cloud data array. More...

IndicesPtr	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...

Indices	shuffled_indices_
	Data containing a shuffled version of the indices. More...

boost::mt19937	rng_alg_
	Boost-based random number generator algorithm. More...

std::shared_ptr< boost::uniform_int<> >	rng_dist_
	Boost-based random number generator distribution. More...

std::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...

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...

Protected Attributes inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
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...

Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
static const unsigned int	max_sample_checks_ = 1000
	The maximum number of samples to try until we get a good one. More...

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelCone< PointT, PointNT >

SampleConsensusModelCone defines a model for 3D cone segmentation.

The model coefficients are defined as:

apex.x : the X coordinate of cone's apex
apex.y : the Y coordinate of cone's apex
apex.z : the Z coordinate of cone's apex
axis_direction.x : the X coordinate of the cone's axis direction
axis_direction.y : the Y coordinate of the cone's axis direction
axis_direction.z : the Z coordinate of the cone's axis direction
opening_angle : the cone's opening angle

Author: Stefan Schrandt

Definition at line 62 of file sac_model_cone.h.

Member Typedef Documentation

ConstPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelCone< PointT, PointNT >::ConstPtr = shared_ptr<const SampleConsensusModelCone<PointT, PointNT> >

Definition at line 79 of file sac_model_cone.h.

PointCloud

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloud = typename SampleConsensusModel<PointT>::PointCloud

Definition at line 74 of file sac_model_cone.h.

PointCloudConstPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr

Definition at line 76 of file sac_model_cone.h.

PointCloudPtr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelCone< PointT, PointNT >::PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr

Definition at line 75 of file sac_model_cone.h.

Ptr

template<typename PointT , typename PointNT >

using pcl::SampleConsensusModelCone< PointT, PointNT >::Ptr = shared_ptr<SampleConsensusModelCone<PointT, PointNT> >

Definition at line 78 of file sac_model_cone.h.

Constructor & Destructor Documentation

SampleConsensusModelCone() [1/3]

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone	(	const PointCloudConstPtr &	cloud,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelCone.

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 85 of file sac_model_cone.h.

SampleConsensusModelCone() [2/3]

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone	(	const PointCloudConstPtr &	cloud,
		const Indices &	indices,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelCone.

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 103 of file sac_model_cone.h.

SampleConsensusModelCone() [3/3]

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelCone< PointT, PointNT >::SampleConsensusModelCone ( const SampleConsensusModelCone< PointT, PointNT > & source )

inline

Copy constructor.

Parameters

[in] source the model to copy into this

Definition at line 121 of file sac_model_cone.h.

~SampleConsensusModelCone()

template<typename PointT , typename PointNT >

pcl::SampleConsensusModelCone< PointT, PointNT >::~SampleConsensusModelCone ( )

inline

Empty destructor.

Definition at line 131 of file sac_model_cone.h.

Member Function Documentation

computeModelCoefficients()

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< PointT, PointNT >::computeModelCoefficients	(	const Indices &	samples,
		Eigen::VectorXf &	model_coefficients
	)		const

overridevirtual

Check whether the given index samples can form a valid cone model, compute the model coefficients from these samples and store them in model_coefficients.

The cone coefficients are: apex, axis_direction, opening_angle.

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_cone.hpp.

countWithinDistance()

template<typename PointT , typename PointNT >

std::size_t pcl::SampleConsensusModelCone< PointT, PointNT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		const

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 266 of file sac_model_cone.hpp.

doSamplesVerifyModel()

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< PointT, PointNT >::doSamplesVerifyModel	(	const std::set< index_t > &	indices,
		const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		const

overridevirtual

Verify whether a subset of indices verifies the given cone model coefficients.

Parameters

[in]	indices	the data indices that need to be tested against the cone model
[in]	model_coefficients	the cone model coefficients
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 456 of file sac_model_cone.hpp.

getAxis()

template<typename PointT , typename PointNT >

Eigen::Vector3f pcl::SampleConsensusModelCone< PointT, PointNT >::getAxis ( ) const

inline

Get the axis along which we need to search for a cone direction.

Definition at line 166 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

getDistancesToModel()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::getDistancesToModel	(	const Eigen::VectorXf &	model_coefficients,
		std::vector< double > &	distances
	)		const

overridevirtual

Compute all distances from the cloud data to a given cone model.

Parameters

[in]	model_coefficients	the coefficients of a cone model that we need to compute distances to
[out]	distances	the resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 146 of file sac_model_cone.hpp.

getEpsAngle()

template<typename PointT , typename PointNT >

double pcl::SampleConsensusModelCone< PointT, PointNT >::getEpsAngle ( ) const

inline

Get the angle epsilon (delta) threshold.

Definition at line 156 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

getMinMaxOpeningAngle()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::getMinMaxOpeningAngle	(	double &	min_angle,
		double &	max_angle
	)		const

inline

Get the opening angle which we need minimum to validate a cone model.

Parameters

[out]	min_angle	the minimum allowable opening angle of a cone model
[out]	max_angle	the maximum allowable opening angle of a cone model

Definition at line 185 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

getModelType()

template<typename PointT , typename PointNT >

pcl::SacModel pcl::SampleConsensusModelCone< PointT, PointNT >::getModelType ( ) const

inlineoverridevirtual

Return a unique id for this model (SACMODEL_CONE).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 266 of file sac_model_cone.h.

isModelValid()

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< PointT, PointNT >::isModelValid ( const Eigen::VectorXf & model_coefficients ) const

overrideprotectedvirtual

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 509 of file sac_model_cone.hpp.

isSampleGood()

template<typename PointT , typename PointNT >

bool pcl::SampleConsensusModelCone< PointT, PointNT >::isSampleGood ( const Indices & samples ) const

overrideprotectedvirtual

Check if a sample of indices results in a good sample of points indices.

Pure virtual.

Parameters

[in] samples the resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 49 of file sac_model_cone.hpp.

operator=()

template<typename PointT , typename PointNT >

SampleConsensusModelCone& pcl::SampleConsensusModelCone< PointT, PointNT >::operator= ( const SampleConsensusModelCone< PointT, PointNT > & source )

inline

Copy constructor.

Parameters

[in] source the model to copy into this

Definition at line 137 of file sac_model_cone.h.

optimizeModelCoefficients()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::optimizeModelCoefficients	(	const Indices &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)		const

overridevirtual

Recompute the cone coefficients using the given inlier set and return them to the user.

Note: : these are the coefficients of the cone 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 322 of file sac_model_cone.hpp.

pointToAxisDistance()

template<typename PointT , typename PointNT >

double pcl::SampleConsensusModelCone< PointT, PointNT >::pointToAxisDistance	(	const Eigen::Vector4f &	pt,
		const Eigen::VectorXf &	model_coefficients
	)		const

protected

Get the distance from a point to a line (represented by a point and a direction)

Parameters

[in]	pt	a point
[in]	model_coefficients	the line coefficients (a point on the line, line direction)

Definition at line 499 of file sac_model_cone.hpp.

projectPoints()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::projectPoints	(	const Indices &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		PointCloud &	projected_points,
		bool	copy_data_fields = `true`
	)		const

overridevirtual

Create a new point cloud with inliers projected onto the cone model.

Parameters

[in]	inliers	the data inliers that we want to project on the cone model
[in]	model_coefficients	the coefficients of a cone 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 360 of file sac_model_cone.hpp.

selectWithinDistance()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		Indices &	inliers
	)

overridevirtual

Select all the points which respect the given model coefficients as inliers.

Parameters

[in]	model_coefficients	the coefficients of a cone 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 200 of file sac_model_cone.hpp.

setAxis()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::setAxis ( const Eigen::Vector3f & ax )

inline

Set the axis along which we need to search for a cone direction.

Parameters

[in] ax the axis along which we need to search for a cone direction

Definition at line 162 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

setEpsAngle()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::setEpsAngle ( double ea )

inline

Set the angle epsilon (delta) threshold.

Parameters

[in] ea the maximum allowed difference between the cone's axis and the given axis.

Definition at line 152 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

setMinMaxOpeningAngle()

template<typename PointT , typename PointNT >

void pcl::SampleConsensusModelCone< PointT, PointNT >::setMinMaxOpeningAngle	(	const double &	min_angle,
		const double &	max_angle
	)

inline

Set the minimum and maximum allowable opening angle for a cone model given from a user.

Parameters

[in]	min_angle	the minimum allowable opening angle of a cone model
[in]	max_angle	the maximum allowable opening angle of a cone model

Definition at line 174 of file sac_model_cone.h.

Referenced by pcl::SACSegmentationFromNormals< PointT, PointNT >::initSACModel().

The documentation for this class was generated from the following files:

pcl/sample_consensus/sac_model_cone.h
pcl/sample_consensus/impl/sac_model_cone.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_cone.html

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT, typename PointNT> class pcl::SampleConsensusModelCone< PointT, PointNT >

Member Typedef Documentation

ConstPtr

PointCloud

PointCloudConstPtr

PointCloudPtr

Ptr

Constructor & Destructor Documentation

SampleConsensusModelCone() [1/3]

SampleConsensusModelCone() [2/3]

SampleConsensusModelCone() [3/3]

~SampleConsensusModelCone()

Member Function Documentation

computeModelCoefficients()

countWithinDistance()

doSamplesVerifyModel()

getAxis()

getDistancesToModel()

getEpsAngle()

getMinMaxOpeningAngle()

getModelType()

isModelValid()

isSampleGood()

operator=()

optimizeModelCoefficients()

pointToAxisDistance()

projectPoints()

selectWithinDistance()

setAxis()

setEpsAngle()

setMinMaxOpeningAngle()

template<typename PointT, typename PointNT>
class pcl::SampleConsensusModelCone< PointT, PointNT >