Point Cloud Library (PCL)
1.14.1-dev
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SampleConsensusModelCircle3D defines a model for 3D circle segmentation. More...
#include <pcl/sample_consensus/sac_model_circle3d.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< SampleConsensusModelCircle3D< PointT > > |
using | ConstPtr = shared_ptr< const SampleConsensusModelCircle3D< 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 | |
SampleConsensusModelCircle3D (const PointCloudConstPtr &cloud, bool random=false) | |
Constructor for base SampleConsensusModelCircle3D. More... | |
SampleConsensusModelCircle3D (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false) | |
Constructor for base SampleConsensusModelCircle3D. More... | |
~SampleConsensusModelCircle3D () override=default | |
Empty destructor. More... | |
SampleConsensusModelCircle3D (const SampleConsensusModelCircle3D &source) | |
Copy constructor. More... | |
SampleConsensusModelCircle3D & | operator= (const SampleConsensusModelCircle3D &source) |
Copy constructor. More... | |
bool | computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override |
Check whether the given index samples can form a valid 2D circle 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 3D circle model. More... | |
void | selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override |
Compute all distances from the cloud data to a given 3D circle model. 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 3d circle 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 3d circle 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 3d circle model coefficients. More... | |
pcl::SacModel | getModelType () const override |
Return a unique id for this model (SACMODEL_CIRCLE3D). More... | |
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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 ()=default |
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... | |
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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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 | |
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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... | |
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... | |
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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... | |
SampleConsensusModelCircle3D defines a model for 3D circle segmentation.
The model coefficients are defined as:
Definition at line 60 of file sac_model_circle3d.h.
using pcl::SampleConsensusModelCircle3D< PointT >::ConstPtr = shared_ptr<const SampleConsensusModelCircle3D<PointT> > |
Definition at line 75 of file sac_model_circle3d.h.
using pcl::SampleConsensusModelCircle3D< PointT >::PointCloud = typename SampleConsensusModel<PointT>::PointCloud |
Definition at line 70 of file sac_model_circle3d.h.
using pcl::SampleConsensusModelCircle3D< PointT >::PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr |
Definition at line 72 of file sac_model_circle3d.h.
using pcl::SampleConsensusModelCircle3D< PointT >::PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr |
Definition at line 71 of file sac_model_circle3d.h.
using pcl::SampleConsensusModelCircle3D< PointT >::Ptr = shared_ptr<SampleConsensusModelCircle3D<PointT> > |
Definition at line 74 of file sac_model_circle3d.h.
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inline |
Constructor for base SampleConsensusModelCircle3D.
[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_circle3d.h.
References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.
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inline |
Constructor for base SampleConsensusModelCircle3D.
[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 95 of file sac_model_circle3d.h.
References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.
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overridedefault |
Empty destructor.
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inline |
Copy constructor.
[in] | source | the model to copy into this |
Definition at line 111 of file sac_model_circle3d.h.
References pcl::SampleConsensusModel< PointT >::model_name_.
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overridevirtual |
Check whether the given index samples can form a valid 2D circle model, compute the model coefficients from these samples and store them in model_coefficients.
The circle coefficients are: x, y, 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 79 of file sac_model_circle3d.hpp.
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overridevirtual |
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 238 of file sac_model_circle3d.hpp.
References pcl::K.
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overridevirtual |
Verify whether a subset of indices verifies the given 3d circle model coefficients.
[in] | indices | the data indices that need to be tested against the 3d circle model |
[in] | model_coefficients | the 3d circle model coefficients |
[in] | threshold | a maximum admissible distance threshold for determining the inliers from the outliers |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 419 of file sac_model_circle3d.hpp.
References pcl::K.
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overridevirtual |
Compute all distances from the cloud data to a given 3D circle model.
[in] | model_coefficients | the coefficients of a 2D circle model that we need to compute distances to |
[out] | distances | the resultant estimated distances |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 139 of file sac_model_circle3d.hpp.
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inlineoverridevirtual |
Return a unique id for this model (SACMODEL_CIRCLE3D).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 200 of file sac_model_circle3d.h.
References pcl::SACMODEL_CIRCLE3D.
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overrideprotectedvirtual |
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 465 of file sac_model_circle3d.hpp.
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overrideprotectedvirtual |
Check if a sample of indices results in a good sample of points indices.
[in] | samples | the resultant index samples |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 50 of file sac_model_circle3d.hpp.
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inline |
Copy constructor.
[in] | source | the model to copy into this |
Definition at line 122 of file sac_model_circle3d.h.
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overridevirtual |
Recompute the 3d circle 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 280 of file sac_model_circle3d.hpp.
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overridevirtual |
Create a new point cloud with inliers projected onto the 3d circle model.
[in] | inliers | the data inliers that we want to project on the 3d circle model |
[in] | model_coefficients | the coefficients of a 3d circle 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 317 of file sac_model_circle3d.hpp.
References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::K, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
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overridevirtual |
Compute all distances from the cloud data to a given 3D circle model.
[in] | model_coefficients | the coefficients of a 3D circle 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 186 of file sac_model_circle3d.hpp.