Point Cloud Library (PCL) 1.12.1
sac_model_stick.h
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37 * $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $
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40
41#pragma once
42
43#include <pcl/sample_consensus/sac_model.h>
44#include <pcl/sample_consensus/model_types.h>
45
46namespace pcl
47{
48 /** \brief SampleConsensusModelStick defines a model for 3D stick segmentation.
49 * A stick is a line with a user given minimum/maximum width.
50 * The model coefficients are defined as:
51 * - \b point_on_line.x : the X coordinate of a point on the line
52 * - \b point_on_line.y : the Y coordinate of a point on the line
53 * - \b point_on_line.z : the Z coordinate of a point on the line
54 * - \b line_direction.x : the X coordinate of a line's direction
55 * - \b line_direction.y : the Y coordinate of a line's direction
56 * - \b line_direction.z : the Z coordinate of a line's direction
57 * - \b line_width : the width of the line
58 *
59 * \author Radu B. Rusu
60 * \ingroup sample_consensus
61 */
62 template <typename PointT>
64 {
65 public:
73
77
78 using Ptr = shared_ptr<SampleConsensusModelStick<PointT> >;
79 using ConstPtr = shared_ptr<const SampleConsensusModelStick<PointT>>;
80
81 /** \brief Constructor for base SampleConsensusModelStick.
82 * \param[in] cloud the input point cloud dataset
83 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
84 */
86 bool random = false)
87 : SampleConsensusModel<PointT> (cloud, random)
88 {
89 model_name_ = "SampleConsensusModelStick";
90 sample_size_ = 2;
91 model_size_ = 7;
92 }
93
94 /** \brief Constructor for base SampleConsensusModelStick.
95 * \param[in] cloud the input point cloud dataset
96 * \param[in] indices a vector of point indices to be used from \a cloud
97 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
98 */
100 const Indices &indices,
101 bool random = false)
102 : SampleConsensusModel<PointT> (cloud, indices, random)
103 {
104 model_name_ = "SampleConsensusModelStick";
105 sample_size_ = 2;
106 model_size_ = 7;
107 }
108
109 /** \brief Empty destructor */
111
112 /** \brief Check whether the given index samples can form a valid stick model, compute the model coefficients from
113 * these samples and store them internally in model_coefficients_. The stick coefficients are represented by a
114 * point and a line direction
115 * \param[in] samples the point indices found as possible good candidates for creating a valid model
116 * \param[out] model_coefficients the resultant model coefficients
117 */
118 bool
119 computeModelCoefficients (const Indices &samples,
120 Eigen::VectorXf &model_coefficients) const override;
121
122 /** \brief Compute all squared distances from the cloud data to a given stick model.
123 * \param[in] model_coefficients the coefficients of a stick model that we need to compute distances to
124 * \param[out] distances the resultant estimated squared distances
125 */
126 void
127 getDistancesToModel (const Eigen::VectorXf &model_coefficients,
128 std::vector<double> &distances) const override;
129
130 /** \brief Select all the points which respect the given model coefficients as inliers.
131 * \param[in] model_coefficients the coefficients of a stick model that we need to compute distances to
132 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
133 * \param[out] inliers the resultant model inliers
134 */
135 void
136 selectWithinDistance (const Eigen::VectorXf &model_coefficients,
137 const double threshold,
138 Indices &inliers) override;
139
140 /** \brief Count all the points which respect the given model coefficients as inliers.
141 *
142 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
143 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
144 * \return the resultant number of inliers
145 */
146 std::size_t
147 countWithinDistance (const Eigen::VectorXf &model_coefficients,
148 const double threshold) const override;
149
150 /** \brief Recompute the stick coefficients using the given inlier set and return them to the user.
151 * @note: these are the coefficients of the stick model after refinement (e.g. after SVD)
152 * \param[in] inliers the data inliers found as supporting the model
153 * \param[in] model_coefficients the initial guess for the model coefficients
154 * \param[out] optimized_coefficients the resultant recomputed coefficients after optimization
155 */
156 void
157 optimizeModelCoefficients (const Indices &inliers,
158 const Eigen::VectorXf &model_coefficients,
159 Eigen::VectorXf &optimized_coefficients) const override;
160
161 /** \brief Create a new point cloud with inliers projected onto the stick model.
162 * \param[in] inliers the data inliers that we want to project on the stick model
163 * \param[in] model_coefficients the *normalized* coefficients of a stick model
164 * \param[out] projected_points the resultant projected points
165 * \param[in] copy_data_fields set to true if we need to copy the other data fields
166 */
167 void
168 projectPoints (const Indices &inliers,
169 const Eigen::VectorXf &model_coefficients,
170 PointCloud &projected_points,
171 bool copy_data_fields = true) const override;
172
173 /** \brief Verify whether a subset of indices verifies the given stick model coefficients.
174 * \param[in] indices the data indices that need to be tested against the plane model
175 * \param[in] model_coefficients the plane model coefficients
176 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
177 */
178 bool
179 doSamplesVerifyModel (const std::set<index_t> &indices,
180 const Eigen::VectorXf &model_coefficients,
181 const double threshold) const override;
182
183 /** \brief Return a unique id for this model (SACMODEL_STICK). */
184 inline pcl::SacModel
185 getModelType () const override { return (SACMODEL_STICK); }
186
187 protected:
190
191 /** \brief Check if a sample of indices results in a good sample of points
192 * indices.
193 * \param[in] samples the resultant index samples
194 */
195 bool
196 isSampleGood (const Indices &samples) const override;
197 };
198}
199
200#ifdef PCL_NO_PRECOMPILE
201#include <pcl/sample_consensus/impl/sac_model_stick.hpp>
202#endif
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
SampleConsensusModel represents the base model class.
Definition: sac_model.h:70
double radius_min_
The minimum and maximum radius limits for the model.
Definition: sac_model.h:564
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:77
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition: sac_model.h:588
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: sac_model.h:73
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: sac_model.h:556
PointCloudConstPtr input_
A boost shared pointer to the point cloud data array.
Definition: sac_model.h:553
virtual bool isModelValid(const Eigen::VectorXf &model_coefficients) const
Check whether a model is valid given the user constraints.
Definition: sac_model.h:527
std::string model_name_
The model name.
Definition: sac_model.h:550
unsigned int model_size_
The number of coefficients in the model.
Definition: sac_model.h:591
typename PointCloud::Ptr PointCloudPtr
Definition: sac_model.h:74
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
Definition: sac_model.h:78
std::vector< double > error_sqr_dists_
A vector holding the distances to the computed model.
Definition: sac_model.h:585
SampleConsensusModelStick defines a model for 3D stick segmentation.
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.
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 stick model coefficients.
SampleConsensusModelStick(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelStick.
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Check whether the given index samples can form a valid stick model, compute the model coefficients fr...
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all squared distances from the cloud data to a given stick model.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_STICK).
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
SampleConsensusModelStick(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelStick.
~SampleConsensusModelStick()
Empty destructor.
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 stick model.
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 stick coefficients using the given inlier set and return them to the user.
SacModel
Definition: model_types.h:46
@ SACMODEL_STICK
Definition: model_types.h:64
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.