Point Cloud Library (PCL) 1.12.0
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sac_model_stick.h
1/*
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37 * $Id: sac_model_line.h 2326 2011-08-31 07:48:25Z rusu $
38 *
39 */
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
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)
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
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
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
169 const Eigen::VectorXf &model_coefficients,
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
Iterator class for point clouds with or without given indices.
PointCloud represents the base class in PCL for storing collections of 3D points.
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
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
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.
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
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).
typename SampleConsensusModel< PointT >::PointCloud PointCloud
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
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.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
@ SACMODEL_STICK
Definition model_types.h:64
A point structure representing Euclidean xyz coordinates, and the RGB color.