SampleConsensusModel represents the base model class. More...

#include </__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model.h>

Inheritance diagram for pcl::cuda::SampleConsensusModel< Storage >:

Collaboration diagram for pcl::cuda::SampleConsensusModel< Storage >:

Public Types
using	PointCloud = PointCloudAOS< Storage >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Ptr = shared_ptr< SampleConsensusModel >

using	ConstPtr = shared_ptr< const SampleConsensusModel >

using	Indices = typename Storage< int >::type

using	IndicesPtr = shared_ptr< typename Storage< int >::type >

using	IndicesConstPtr = shared_ptr< const typename Storage< int >::type >

using	Coefficients = typename Storage< float >::type

using	CoefficientsPtr = shared_ptr< Coefficients >

using	CoefficientsConstPtr = shared_ptr< const Coefficients >

using	Hypotheses = typename Storage< float4 >::type

using	Samples = typename Storage< int >::type

Public Member Functions
	SampleConsensusModel (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModel. More...

virtual	~SampleConsensusModel ()=default
	Destructor for base SampleConsensusModel. More...

virtual void	getSamples (int &iterations, Indices &samples)=0
	Get a set of random data samples and return them as point indices. More...

virtual bool	computeModelCoefficients (const Indices &samples, Coefficients &model_coefficients)=0
	Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them in model_coefficients. More...

virtual bool	generateModelHypotheses (Hypotheses &h, int max_iterations)=0

virtual bool	generateModelHypotheses (Hypotheses &h, Samples &s, int max_iterations)=0

virtual bool	isSampleInlier (IndicesPtr &inliers_stencil, Samples &samples, unsigned int &i)

virtual int	selectWithinDistance (const Coefficients &model_coefficients, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil)=0
	Select all the points which respect the given model coefficients as inliers. More...

virtual int	selectWithinDistance (const Hypotheses &h, int idx, float threshold, IndicesPtr &inliers, IndicesPtr &inliers_stencil)=0

virtual int	selectWithinDistance (Hypotheses &h, int idx, float threshold, IndicesPtr &inliers_stencil, float3 &centroid)=0

virtual int	countWithinDistance (const Coefficients &model_coefficients, float threshold)=0

virtual int	countWithinDistance (const Hypotheses &h, int idx, float threshold)=0

int	deleteIndices (const IndicesPtr &indices_stencil)

int	deleteIndices (const Hypotheses &h, int idx, IndicesPtr &inliers, const IndicesPtr &inliers_delete)

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...

IndicesPtr	getIndices () const
	Get a pointer to the vector of indices used. More...

void	setRadiusLimits (float min_radius, float max_radius)
	Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More...

void	getRadiusLimits (float &min_radius, float &max_radius)
	Get the minimum and maximum allowable radius limits for the model as set by the user. More...

shared_ptr< typename Storage< float4 >::type >	getNormals ()

void	setNormals (shared_ptr< typename Storage< float4 >::type > normals)

Protected Attributes
PointCloudConstPtr	input_
	A boost shared pointer to the point cloud data array. More...

shared_ptr< typename Storage< float4 >::type >	normals_

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

IndicesPtr	indices_stencil_
	A pointer to the vector of point indices (stencil) to use. More...

unsigned int	nr_indices_in_stencil_
	number of indices left in indices_stencil_ More...

float	radius_min_
	The minimum and maximum radius limits for the model. More...

float	radius_max_

thrust::minstd_rand	rngl_
	Linear-Congruent random number generator engine. More...

Detailed Description

template<template< typename > class Storage>
class pcl::cuda::SampleConsensusModel< Storage >

SampleConsensusModel represents the base model class.

All sample consensus models must inherit from this class.

Definition at line 87 of file sac_model.h.

Member Typedef Documentation

◆ Coefficients

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::Coefficients = typename Storage<float>::type

Definition at line 101 of file sac_model.h.

◆ CoefficientsConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::CoefficientsConstPtr = shared_ptr <const Coefficients>

Definition at line 103 of file sac_model.h.

◆ CoefficientsPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::CoefficientsPtr = shared_ptr <Coefficients>

Definition at line 102 of file sac_model.h.

◆ ConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::ConstPtr = shared_ptr<const SampleConsensusModel>

Definition at line 95 of file sac_model.h.

◆ Hypotheses

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::Hypotheses = typename Storage<float4>::type

Definition at line 105 of file sac_model.h.

◆ Indices

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::Indices = typename Storage<int>::type

Definition at line 97 of file sac_model.h.

◆ IndicesConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::IndicesConstPtr = shared_ptr<const typename Storage<int>::type>

Definition at line 99 of file sac_model.h.

◆ IndicesPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::IndicesPtr = shared_ptr<typename Storage<int>::type>

Definition at line 98 of file sac_model.h.

◆ PointCloud

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::PointCloud = PointCloudAOS<Storage>

Definition at line 90 of file sac_model.h.

◆ PointCloudConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 92 of file sac_model.h.

◆ PointCloudPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 91 of file sac_model.h.

◆ Ptr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::Ptr = shared_ptr<SampleConsensusModel>

Definition at line 94 of file sac_model.h.

◆ Samples

template<template< typename > class Storage>

using pcl::cuda::SampleConsensusModel< Storage >::Samples = typename Storage<int>::type

Definition at line 107 of file sac_model.h.

Constructor & Destructor Documentation

◆ SampleConsensusModel()

template<template< typename > class Storage>

pcl::cuda::SampleConsensusModel< Storage >::SampleConsensusModel ( const PointCloudConstPtr & cloud )

inline

Constructor for base SampleConsensusModel.

Parameters

cloud the input point cloud dataset

Definition at line 120 of file sac_model.h.

References pcl::cuda::SampleConsensusModel< Storage >::setInputCloud().

◆ ~SampleConsensusModel()

template<template< typename > class Storage>

virtual pcl::cuda::SampleConsensusModel< Storage >::~SampleConsensusModel ( )

virtualdefault

Destructor for base SampleConsensusModel.

Member Function Documentation

◆ computeModelCoefficients()

template<template< typename > class Storage>

virtual bool pcl::cuda::SampleConsensusModel< Storage >::computeModelCoefficients	(	const Indices &	samples,
		Coefficients &	model_coefficients
	)

pure virtual

Check whether the given index samples can form a valid model, compute the model coefficients from these samples and store them in model_coefficients.

Pure virtual.

Parameters

samples	the point indices found as possible good candidates for creating a valid model, stored on the device
model_coefficients	the computed model coefficients

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ countWithinDistance() [1/2]

template<template< typename > class Storage>

virtual int pcl::cuda::SampleConsensusModel< Storage >::countWithinDistance	(	const Coefficients &	model_coefficients,
		float	threshold
	)

pure virtual

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ countWithinDistance() [2/2]

template<template< typename > class Storage>

virtual int pcl::cuda::SampleConsensusModel< Storage >::countWithinDistance	(	const Hypotheses &	h,
		int	idx,
		float	threshold
	)

pure virtual

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ deleteIndices() [1/2]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModel< Storage >::deleteIndices	(	const Hypotheses &	h,
		int	idx,
		IndicesPtr &	inliers,
		const IndicesPtr &	inliers_delete
	)

◆ deleteIndices() [2/2]

template<template< typename > class Storage>

int pcl::cuda::SampleConsensusModel< Storage >::deleteIndices ( const IndicesPtr & indices_stencil )

◆ generateModelHypotheses() [1/2]

template<template< typename > class Storage>

virtual bool pcl::cuda::SampleConsensusModel< Storage >::generateModelHypotheses	(	Hypotheses &	h,
		int	max_iterations
	)

pure virtual

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ generateModelHypotheses() [2/2]

template<template< typename > class Storage>

virtual bool pcl::cuda::SampleConsensusModel< Storage >::generateModelHypotheses	(	Hypotheses &	h,
		Samples &	s,
		int	max_iterations
	)

pure virtual

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ getIndices()

template<template< typename > class Storage>

IndicesPtr pcl::cuda::SampleConsensusModel< Storage >::getIndices ( ) const

inline

Get a pointer to the vector of indices used.

Definition at line 291 of file sac_model.h.

References pcl::cuda::SampleConsensusModel< Storage >::indices_, pcl::cuda::SampleConsensusModel< Storage >::indices_stencil_, and pcl::cuda::SampleConsensusModel< Storage >::nr_indices_in_stencil_.

◆ getInputCloud()

template<template< typename > class Storage>

PointCloudConstPtr pcl::cuda::SampleConsensusModel< Storage >::getInputCloud ( ) const

inline

Get a pointer to the input point cloud dataset.

Definition at line 272 of file sac_model.h.

References pcl::cuda::SampleConsensusModel< Storage >::input_.

◆ getNormals()

template<template< typename > class Storage>

shared_ptr<typename Storage<float4>::type> pcl::cuda::SampleConsensusModel< Storage >::getNormals ( )

inline

Definition at line 339 of file sac_model.h.

References pcl::cuda::SampleConsensusModel< Storage >::normals_.

◆ getRadiusLimits()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensusModel< Storage >::getRadiusLimits	(	float &	min_radius,
		float &	max_radius
	)

inline

Get the minimum and maximum allowable radius limits for the model as set by the user.

Parameters

min_radius	the resultant minimum radius model
max_radius	the resultant maximum radius model

Definition at line 330 of file sac_model.h.

References pcl::cuda::SampleConsensusModel< Storage >::radius_max_, and pcl::cuda::SampleConsensusModel< Storage >::radius_min_.

◆ getSamples()

template<template< typename > class Storage>

virtual void pcl::cuda::SampleConsensusModel< Storage >::getSamples	(	int &	iterations,
		Indices &	samples
	)

pure virtual

Get a set of random data samples and return them as point indices.

Pure virtual.

Parameters

iterations	the internal number of iterations used by SAC methods
samples	the resultant model samples, stored on the device

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ isSampleInlier()

template<template< typename > class Storage>

virtual bool pcl::cuda::SampleConsensusModel< Storage >::isSampleInlier	(	IndicesPtr &	inliers_stencil,
		Samples &	samples,
		unsigned int &	i
	)

inlinevirtual

Definition at line 174 of file sac_model.h.

◆ selectWithinDistance() [1/3]

template<template< typename > class Storage>

virtual int pcl::cuda::SampleConsensusModel< Storage >::selectWithinDistance	(	const Coefficients &	model_coefficients,
		float	threshold,
		IndicesPtr &	inliers,
		IndicesPtr &	inliers_stencil
	)

pure virtual

Select all the points which respect the given model coefficients as inliers.

Pure virtual.

Parameters

model_coefficients	the coefficients of a model that we need to compute distances to
threshold	a maximum admissible distance threshold for determining the inliers from the outliers
inliers	the resultant model inliers
inliers_stencil

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ selectWithinDistance() [2/3]

template<template< typename > class Storage>

virtual int pcl::cuda::SampleConsensusModel< Storage >::selectWithinDistance	(	const Hypotheses &	h,
		int	idx,
		float	threshold,
		IndicesPtr &	inliers,
		IndicesPtr &	inliers_stencil
	)

pure virtual

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ selectWithinDistance() [3/3]

template<template< typename > class Storage>

virtual int pcl::cuda::SampleConsensusModel< Storage >::selectWithinDistance	(	Hypotheses &	h,
		int	idx,
		float	threshold,
		IndicesPtr &	inliers_stencil,
		float3 &	centroid
	)

pure virtual

Implemented in pcl::cuda::SampleConsensusModelPlane< Storage >, and pcl::cuda::SampleConsensusModel1PointPlane< Storage >.

◆ setInputCloud()

template<template< typename > class Storage>

virtual void pcl::cuda::SampleConsensusModel< Storage >::setInputCloud ( const PointCloudConstPtr & cloud )

virtual

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Referenced by pcl::cuda::SampleConsensusModel< Storage >::SampleConsensusModel().

◆ setNormals()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensusModel< Storage >::setNormals ( shared_ptr< typename Storage< float4 >::type > normals )

inline

Definition at line 342 of file sac_model.h.

References pcl::cuda::SampleConsensusModel< Storage >::normals_.

◆ setRadiusLimits()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensusModel< Storage >::setRadiusLimits	(	float	min_radius,
		float	max_radius
	)

inline

Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)

Parameters

min_radius	the minimum radius model
max_radius	the maximum radius model

Todo:: change this to set limits on the entire model

Definition at line 317 of file sac_model.h.

References pcl::cuda::SampleConsensusModel< Storage >::radius_max_, and pcl::cuda::SampleConsensusModel< Storage >::radius_min_.

Member Data Documentation

◆ indices_

template<template< typename > class Storage>

IndicesPtr pcl::cuda::SampleConsensusModel< Storage >::indices_

protected

A pointer to the vector of point indices to use.

Definition at line 357 of file sac_model.h.

Referenced by pcl::cuda::SampleConsensusModel< Storage >::getIndices().

◆ indices_stencil_

template<template< typename > class Storage>

IndicesPtr pcl::cuda::SampleConsensusModel< Storage >::indices_stencil_

protected

A pointer to the vector of point indices (stencil) to use.

Definition at line 359 of file sac_model.h.

Referenced by pcl::cuda::SampleConsensusModel< Storage >::getIndices().

◆ input_

template<template< typename > class Storage>

PointCloudConstPtr pcl::cuda::SampleConsensusModel< Storage >::input_

protected

A boost shared pointer to the point cloud data array.

Definition at line 353 of file sac_model.h.

Referenced by pcl::cuda::SampleConsensusModel< Storage >::getInputCloud().

◆ normals_

template<template< typename > class Storage>

shared_ptr<typename Storage<float4>::type> pcl::cuda::SampleConsensusModel< Storage >::normals_

protected

Definition at line 354 of file sac_model.h.

Referenced by pcl::cuda::SampleConsensusModel< Storage >::getNormals(), and pcl::cuda::SampleConsensusModel< Storage >::setNormals().

◆ nr_indices_in_stencil_

template<template< typename > class Storage>

unsigned int pcl::cuda::SampleConsensusModel< Storage >::nr_indices_in_stencil_

protected

number of indices left in indices_stencil_

Definition at line 361 of file sac_model.h.

Referenced by pcl::cuda::SampleConsensusModel< Storage >::getIndices().

◆ radius_max_

template<template< typename > class Storage>

float pcl::cuda::SampleConsensusModel< Storage >::radius_max_

protected

Definition at line 366 of file sac_model.h.

Referenced by pcl::cuda::SampleConsensusModel< Storage >::getRadiusLimits(), and pcl::cuda::SampleConsensusModel< Storage >::setRadiusLimits().

◆ radius_min_

template<template< typename > class Storage>

float pcl::cuda::SampleConsensusModel< Storage >::radius_min_

protected

The minimum and maximum radius limits for the model.

Applicable to all models that estimate a radius.

Definition at line 366 of file sac_model.h.

Referenced by pcl::cuda::SampleConsensusModel< Storage >::getRadiusLimits(), and pcl::cuda::SampleConsensusModel< Storage >::setRadiusLimits().

◆ rngl_

template<template< typename > class Storage>

thrust::minstd_rand pcl::cuda::SampleConsensusModel< Storage >::rngl_

protected

Linear-Congruent random number generator engine.

Definition at line 369 of file sac_model.h.

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

/__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac_model.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<template< typename > class Storage> class pcl::cuda::SampleConsensusModel< Storage >

Member Typedef Documentation

◆ Coefficients

◆ CoefficientsConstPtr

◆ CoefficientsPtr

◆ ConstPtr

◆ Hypotheses

◆ Indices

◆ IndicesConstPtr

◆ IndicesPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ Samples

Constructor & Destructor Documentation

◆ SampleConsensusModel()

◆ ~SampleConsensusModel()

Member Function Documentation

◆ computeModelCoefficients()

◆ countWithinDistance() [1/2]

◆ countWithinDistance() [2/2]

◆ deleteIndices() [1/2]

◆ deleteIndices() [2/2]

◆ generateModelHypotheses() [1/2]

◆ generateModelHypotheses() [2/2]

◆ getIndices()

◆ getInputCloud()

◆ getNormals()

◆ getRadiusLimits()

◆ getSamples()

◆ isSampleInlier()

◆ selectWithinDistance() [1/3]

◆ selectWithinDistance() [2/3]

◆ selectWithinDistance() [3/3]

◆ setInputCloud()

◆ setNormals()

◆ setRadiusLimits()

Member Data Documentation

◆ indices_

◆ indices_stencil_

◆ input_

◆ normals_

◆ nr_indices_in_stencil_

◆ radius_max_

◆ radius_min_

◆ rngl_

template<template< typename > class Storage>
class pcl::cuda::SampleConsensusModel< Storage >