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SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints. More...

#include <pcl/sample_consensus/sac_model_parallel_line.h>

Public Types

using PointCloud = typename SampleConsensusModelLine< PointT >::PointCloud
using PointCloudPtr = typename SampleConsensusModelLine< PointT >::PointCloudPtr
using PointCloudConstPtr = typename SampleConsensusModelLine< PointT >::PointCloudConstPtr
using Ptr = shared_ptr< SampleConsensusModelParallelLine< PointT > >
using ConstPtr = shared_ptr< const SampleConsensusModelParallelLine< PointT > >
- Public Types inherited from pcl::SampleConsensusModelLine< PointT >
using PointCloud = typename SampleConsensusModel< PointT >::PointCloud
using PointCloudPtr = typename SampleConsensusModel< PointT >::PointCloudPtr
using PointCloudConstPtr = typename SampleConsensusModel< PointT >::PointCloudConstPtr
using Ptr = shared_ptr< SampleConsensusModelLine< PointT > >
using ConstPtr = shared_ptr< const SampleConsensusModelLine< PointT > >
- 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 Member Functions

SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelLine. More...
SampleConsensusModelParallelLine (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelParallelLine. More...
~SampleConsensusModelParallelLine ()
Empty destructor. More...
void setAxis (const Eigen::Vector3f &ax)
Set the axis along which we need to search for a line. More...
Eigen::Vector3f getAxis () const
Get the axis along which we need to search for a line. More...
void setEpsAngle (const double ea)
Set the angle epsilon (delta) threshold. More...
double getEpsAngle () const
Get the angle epsilon (delta) threshold (in radians). 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 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...
pcl::SacModel getModelType () const override
Return a unique id for this model (SACMODEL_PARALLEL_LINE). More...
- Public Member Functions inherited from pcl::SampleConsensusModelLine< PointT >
SampleConsensusModelLine (const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelLine. More...
SampleConsensusModelLine (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelLine. More...
~SampleConsensusModelLine ()
Empty destructor. More...
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...
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...
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...
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...
- 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...

Protected Member Functions

bool isModelValid (const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints. More...
- Protected Member Functions inherited from pcl::SampleConsensusModelLine< PointT >
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...

Protected Attributes

Eigen::Vector3f axis_
The axis along which we need to search for a line. More...
double eps_angle_
The maximum allowed difference between the line direction and the given axis. More...
- 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...

Additional Inherited Members

- 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>
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
Author
Radu B. Rusu

Definition at line 65 of file sac_model_parallel_line.h.

Member Typedef Documentation

ConstPtr

template<typename PointT >
using pcl::SampleConsensusModelParallelLine< PointT >::ConstPtr = shared_ptr<const SampleConsensusModelParallelLine<PointT> >

Definition at line 75 of file sac_model_parallel_line.h.

PointCloud

Definition at line 70 of file sac_model_parallel_line.h.

PointCloudConstPtr

PointCloudPtr

Definition at line 71 of file sac_model_parallel_line.h.

Ptr

template<typename PointT >
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]

template<typename PointT >
pcl::SampleConsensusModelParallelLine< PointT >::SampleConsensusModelParallelLine ( const PointCloudConstPtr & cloud,
bool random = false
)
inline

Constructor for base SampleConsensusModelParallelLine.

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 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]

template<typename PointT >
pcl::SampleConsensusModelParallelLine< PointT >::SampleConsensusModelParallelLine ( const PointCloudConstPtr & cloud,
const Indices & indices,
bool random = false
)
inline

Constructor for base SampleConsensusModelParallelLine.

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 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()

Empty destructor.

Definition at line 110 of file sac_model_parallel_line.h.

Member Function Documentation

countWithinDistance()

template<typename PointT >
std::size_t pcl::SampleConsensusModelParallelLine< PointT >::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

Reimplemented from pcl::SampleConsensusModelLine< PointT >.

Definition at line 64 of file sac_model_parallel_line.hpp.

getAxis()

template<typename PointT >
Eigen::Vector3f pcl::SampleConsensusModelParallelLine< PointT >::getAxis ( ) const
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()

template<typename PointT >
void pcl::SampleConsensusModelParallelLine< PointT >::getDistancesToModel ( const Eigen::VectorXf & model_coefficients,
std::vector< double > & distances
) const
overridevirtual

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

Parameters
[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()

template<typename PointT >
double pcl::SampleConsensusModelParallelLine< PointT >::getEpsAngle ( ) const
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()

template<typename PointT >
pcl::SacModel pcl::SampleConsensusModelParallelLine< PointT >::getModelType ( ) const
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()

template<typename PointT >
bool pcl::SampleConsensusModelParallelLine< PointT >::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 93 of file sac_model_parallel_line.hpp.

References pcl::getAngle3D(), and M_PI.

selectWithinDistance()

template<typename PointT >
void pcl::SampleConsensusModelParallelLine< PointT >::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 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()

template<typename PointT >
void pcl::SampleConsensusModelParallelLine< PointT >::setAxis ( const Eigen::Vector3f & ax )
inline

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

Parameters
[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()

template<typename PointT >
void pcl::SampleConsensusModelParallelLine< PointT >::setEpsAngle ( const double ea )
inline

Set the angle epsilon (delta) threshold.

Parameters
[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_

template<typename PointT >
Eigen::Vector3f pcl::SampleConsensusModelParallelLine< PointT >::axis_
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_

template<typename PointT >
double pcl::SampleConsensusModelParallelLine< PointT >::eps_angle_
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:

© 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