Point Cloud Library (PCL) 1.12.0
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List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::SampleConsensusModelCylinder< PointT, PointNT > Class Template Reference

SampleConsensusModelCylinder defines a model for 3D cylinder segmentation. More...

#include <pcl/sample_consensus/sac_model_cylinder.h>

+ Inheritance diagram for pcl::SampleConsensusModelCylinder< PointT, PointNT >:
+ Collaboration diagram for pcl::SampleConsensusModelCylinder< PointT, PointNT >:

Public Types

using PointCloud = typename SampleConsensusModel<PointT>::PointCloud
 
using PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr
 
using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr
 
using Ptr = shared_ptr<SampleConsensusModelCylinder<PointT, PointNT> >
 
using ConstPtr = shared_ptr<const SampleConsensusModelCylinder<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

 SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelCylinder.
 
 SampleConsensusModelCylinder (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
 Constructor for base SampleConsensusModelCylinder.
 
 SampleConsensusModelCylinder (const SampleConsensusModelCylinder &source)
 Copy constructor.
 
 ~SampleConsensusModelCylinder ()
 Empty destructor.
 
SampleConsensusModelCylinderoperator= (const SampleConsensusModelCylinder &source)
 Copy constructor.
 
void setEpsAngle (const double ea)
 Set the angle epsilon (delta) threshold.
 
double getEpsAngle () const
 Get the angle epsilon (delta) threshold.
 
void setAxis (const Eigen::Vector3f &ax)
 Set the axis along which we need to search for a cylinder direction.
 
Eigen::Vector3f getAxis () const
 Get the axis along which we need to search for a cylinder direction.
 
bool computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override
 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.
 
void getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
 Compute all distances from the cloud data to a given cylinder model.
 
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.
 
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.
 
void optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
 Recompute the cylinder coefficients using the given inlier set and return them to the user.
 
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 cylinder model.
 
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 cylinder model coefficients.
 
pcl::SacModel getModelType () const override
 Return a unique id for this model (SACMODEL_CYLINDER).
 
- Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModel.
 
 SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
 Constructor for base SampleConsensusModel.
 
virtual ~SampleConsensusModel ()
 Destructor for base SampleConsensusModel.
 
virtual void getSamples (int &iterations, Indices &samples)
 Get a set of random data samples and return them as point indices.
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
 
PointCloudConstPtr getInputCloud () const
 Get a pointer to the input point cloud dataset.
 
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
 
void setIndices (const Indices &indices)
 Provide the vector of indices that represents the input data.
 
IndicesPtr getIndices () const
 Get a pointer to the vector of indices used.
 
const std::string & getClassName () const
 Get a string representation of the name of this class.
 
unsigned int getSampleSize () const
 Return the size of a sample from which the model is computed.
 
unsigned int getModelSize () const
 Return the number of coefficients in the model.
 
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)
 
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.
 
void setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function)
 This can be used to impose any kind of constraint on the model, e.g.
 
void setSamplesMaxDist (const double &radius, SearchPtr search)
 Set the maximum distance allowed when drawing random samples.
 
void getSamplesMaxDist (double &radius) const
 Get maximum distance allowed when drawing random samples.
 
double computeVariance (const std::vector< double > &error_sqr_dists) const
 Compute the variance of the errors to the model.
 
double computeVariance () const
 Compute the variance of the errors to the model from the internally estimated vector of distances.
 
- Public Member Functions inherited from pcl::SampleConsensusModelFromNormals< PointT, PointNT >
 SampleConsensusModelFromNormals ()
 Empty constructor for base SampleConsensusModelFromNormals.
 
virtual ~SampleConsensusModelFromNormals ()
 Destructor.
 
void setNormalDistanceWeight (const double w)
 Set the normal angular distance weight.
 
double getNormalDistanceWeight () const
 Get the normal angular distance weight.
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
 
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset.
 

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)
 
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.
 
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)
 
bool isModelValid (const Eigen::VectorXf &model_coefficients) const override
 Check whether a model is valid given the user constraints.
 
bool isSampleGood (const Indices &samples) const override
 Check if a sample of indices results in a good sample of points indices.
 
- Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (bool random=false)
 Empty constructor for base SampleConsensusModel.
 
void drawIndexSample (Indices &sample)
 Fills a sample array with random samples from the indices_ vector.
 
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_.
 
int rnd ()
 Boost-based random number generator.
 

Additional Inherited Members

- Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
std::string model_name_
 The model name.
 
PointCloudConstPtr input_
 A boost shared pointer to the point cloud data array.
 
IndicesPtr indices_
 A pointer to the vector of point indices to use.
 
double radius_min_
 The minimum and maximum radius limits for the model.
 
double radius_max_
 
double samples_radius_
 The maximum distance of subsequent samples from the first (radius search)
 
SearchPtr samples_radius_search_
 The search object for picking subsequent samples using radius search.
 
Indices shuffled_indices_
 Data containing a shuffled version of the indices.
 
boost::mt19937 rng_alg_
 Boost-based random number generator algorithm.
 
std::shared_ptr< boost::uniform_int<> > rng_dist_
 Boost-based random number generator distribution.
 
std::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > > rng_gen_
 Boost-based random number generator.
 
std::vector< double > error_sqr_dists_
 A vector holding the distances to the computed model.
 
unsigned int sample_size_
 The size of a sample from which the model is computed.
 
unsigned int model_size_
 The number of coefficients in the model.
 
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.
 
- 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.
 
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset.
 
- 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.
 

Detailed Description

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

SampleConsensusModelCylinder defines a model for 3D cylinder segmentation.

The model coefficients are defined as:

Author
Radu Bogdan Rusu

Definition at line 63 of file sac_model_cylinder.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT >
using pcl::SampleConsensusModelCylinder< PointT, PointNT >::ConstPtr = shared_ptr<const SampleConsensusModelCylinder<PointT, PointNT>>

Definition at line 80 of file sac_model_cylinder.h.

◆ PointCloud

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

Definition at line 75 of file sac_model_cylinder.h.

◆ PointCloudConstPtr

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

Definition at line 77 of file sac_model_cylinder.h.

◆ PointCloudPtr

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

Definition at line 76 of file sac_model_cylinder.h.

◆ Ptr

template<typename PointT , typename PointNT >
using pcl::SampleConsensusModelCylinder< PointT, PointNT >::Ptr = shared_ptr<SampleConsensusModelCylinder<PointT, PointNT> >

Definition at line 79 of file sac_model_cylinder.h.

Constructor & Destructor Documentation

◆ SampleConsensusModelCylinder() [1/3]

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

Constructor for base SampleConsensusModelCylinder.

Parameters
[in]cloudthe input point cloud dataset
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 86 of file sac_model_cylinder.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

◆ SampleConsensusModelCylinder() [2/3]

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

Constructor for base SampleConsensusModelCylinder.

Parameters
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 102 of file sac_model_cylinder.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

◆ SampleConsensusModelCylinder() [3/3]

template<typename PointT , typename PointNT >
pcl::SampleConsensusModelCylinder< PointT, PointNT >::SampleConsensusModelCylinder ( const SampleConsensusModelCylinder< PointT, PointNT > & source)
inline

Copy constructor.

Parameters
[in]sourcethe model to copy into this

Definition at line 118 of file sac_model_cylinder.h.

References pcl::SampleConsensusModel< PointT >::model_name_.

◆ ~SampleConsensusModelCylinder()

template<typename PointT , typename PointNT >
pcl::SampleConsensusModelCylinder< PointT, PointNT >::~SampleConsensusModelCylinder ( )
inline

Empty destructor.

Definition at line 129 of file sac_model_cylinder.h.

Member Function Documentation

◆ computeModelCoefficients()

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::computeModelCoefficients ( const Indices & samples,
Eigen::VectorXf & model_coefficients ) const
overridevirtual

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

Parameters
[in]samplesthe point indices found as possible good candidates for creating a valid model
[out]model_coefficientsthe resultant model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 63 of file sac_model_cylinder.hpp.

References pcl::sqrPointToLineDistance().

◆ countWithinDistance()

template<typename PointT , typename PointNT >
std::size_t pcl::SampleConsensusModelCylinder< 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_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholdmaximum admissible distance threshold for determining the inliers from the outliers
Returns
the resultant number of inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 235 of file sac_model_cylinder.hpp.

◆ doSamplesVerifyModel()

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCylinder< 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 cylinder model coefficients.

Parameters
[in]indicesthe data indices that need to be tested against the cylinder model
[in]model_coefficientsthe cylinder model coefficients
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 401 of file sac_model_cylinder.hpp.

◆ getAxis()

template<typename PointT , typename PointNT >
Eigen::Vector3f pcl::SampleConsensusModelCylinder< PointT, PointNT >::getAxis ( ) const
inline

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

Definition at line 162 of file sac_model_cylinder.h.

◆ getDistancesToModel()

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

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

Parameters
[in]model_coefficientsthe coefficients of a cylinder model that we need to compute distances to
[out]distancesthe resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 140 of file sac_model_cylinder.hpp.

◆ getEpsAngle()

template<typename PointT , typename PointNT >
double pcl::SampleConsensusModelCylinder< PointT, PointNT >::getEpsAngle ( ) const
inline

Get the angle epsilon (delta) threshold.

Definition at line 152 of file sac_model_cylinder.h.

◆ getModelType()

template<typename PointT , typename PointNT >
pcl::SacModel pcl::SampleConsensusModelCylinder< PointT, PointNT >::getModelType ( ) const
inlineoverridevirtual

Return a unique id for this model (SACMODEL_CYLINDER).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 238 of file sac_model_cylinder.h.

References pcl::SACMODEL_CYLINDER.

◆ isModelValid()

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCylinder< PointT, PointNT >::isModelValid ( const Eigen::VectorXf & model_coefficients) const
overrideprotectedvirtual

Check whether a model is valid given the user constraints.

Parameters
[in]model_coefficientsthe set of model coefficients

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 454 of file sac_model_cylinder.hpp.

References pcl::getAngle3D(), and M_PI.

◆ isSampleGood()

template<typename PointT , typename PointNT >
bool pcl::SampleConsensusModelCylinder< 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]samplesthe resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 51 of file sac_model_cylinder.hpp.

◆ operator=()

template<typename PointT , typename PointNT >
SampleConsensusModelCylinder & pcl::SampleConsensusModelCylinder< PointT, PointNT >::operator= ( const SampleConsensusModelCylinder< PointT, PointNT > & source)
inline

Copy constructor.

Parameters
[in]sourcethe model to copy into this

Definition at line 135 of file sac_model_cylinder.h.

◆ optimizeModelCoefficients()

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< PointT, PointNT >::optimizeModelCoefficients ( const Indices & inliers,
const Eigen::VectorXf & model_coefficients,
Eigen::VectorXf & optimized_coefficients ) const
overridevirtual

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

Note
: these are the coefficients of the cylinder model after refinement (e.g. after SVD)
Parameters
[in]inliersthe data inliers found as supporting the model
[in]model_coefficientsthe initial guess for the optimization
[out]optimized_coefficientsthe resultant recomputed coefficients after non-linear optimization

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 277 of file sac_model_cylinder.hpp.

◆ pointToLineDistance()

template<typename PointT , typename PointNT >
double pcl::SampleConsensusModelCylinder< PointT, PointNT >::pointToLineDistance ( 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]pta point
[in]model_coefficientsthe line coefficients (a point on the line, line direction)

Definition at line 426 of file sac_model_cylinder.hpp.

References pcl::sqrPointToLineDistance().

◆ projectPoints()

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< 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 cylinder model.

Parameters
[in]inliersthe data inliers that we want to project on the cylinder model
[in]model_coefficientsthe coefficients of a cylinder model
[out]projected_pointsthe resultant projected points
[in]copy_data_fieldsset to true if we need to copy the other data fields

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 315 of file sac_model_cylinder.hpp.

◆ projectPointToCylinder()

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPointToCylinder ( const Eigen::Vector4f & pt,
const Eigen::VectorXf & model_coefficients,
Eigen::Vector4f & pt_proj ) const
protected

Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction, cylinder_radius_R)

Parameters
[in]ptthe input point to project
[in]model_coefficientsthe coefficients of the cylinder (point_on_axis, axis_direction, cylinder_radius_R)
[out]pt_projthe resultant projected point

Definition at line 436 of file sac_model_cylinder.hpp.

◆ projectPointToLine()

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< PointT, PointNT >::projectPointToLine ( const Eigen::Vector4f & pt,
const Eigen::Vector4f & line_pt,
const Eigen::Vector4f & line_dir,
Eigen::Vector4f & pt_proj ) const
inlineprotected

Project a point onto a line given by a point and a direction vector.

Parameters
[in]ptthe input point to project
[in]line_ptthe point on the line (make sure that line_pt[3] = 0 as there are no internal checks!)
[in]line_dirthe direction of the line (make sure that line_dir[3] = 0 as there are no internal checks!)
[out]pt_projthe resultant projected point

Definition at line 258 of file sac_model_cylinder.h.

◆ selectWithinDistance()

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< 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_coefficientsthe coefficients of a cylinder model that we need to compute distances to
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe resultant model inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 183 of file sac_model_cylinder.hpp.

◆ setAxis()

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

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

Parameters
[in]axthe axis along which we need to search for a cylinder direction

Definition at line 158 of file sac_model_cylinder.h.

◆ setEpsAngle()

template<typename PointT , typename PointNT >
void pcl::SampleConsensusModelCylinder< PointT, PointNT >::setEpsAngle ( const double ea)
inline

Set the angle epsilon (delta) threshold.

Parameters
[in]eathe maximum allowed difference between the cylinder axis and the given axis.

Definition at line 148 of file sac_model_cylinder.h.


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