noether::RansacCylinderFitMeshModifier Class Reference

MeshModifier that fits a specifiable number of cylinders to the input mesh and returns the fitted primitive models. More...

Detailed Description

This modifier uses RANSAC to sequentially fit cylinder models to the input mesh. When a valid cylinder model is identified, the inlier vertices are removed from the input mesh and the fitted primitive model is returned. New cylinder models are then fitted to the remainder of vertices in the input mesh until either 1) the maximum number of cylinder models have been fitted 2) too few inliers remain in the input mesh, or 3) no more valid cylinders can be fit to the input mesh.

#include <ransac_cylinder_fit_modifier.h>

Inheritance diagram for noether::RansacCylinderFitMeshModifier:

Public Member Functions
	RansacCylinderFitMeshModifier (float min_radius, float max_radius, float distance_threshold, const Eigen::Vector3f &axis=Eigen::Vector3f::UnitZ(), float axis_threshold=10.0 *M_PI/180.0, float normal_distance_weight=0.1, unsigned min_vertices=1, int max_cylinders=-1, unsigned max_iterations=100, unsigned resolution=20, bool include_caps=false, bool uniform_triangles=true)
	Constructor.
Public Member Functions inherited from noether::RansacCylinderProjectionMeshModifier
	RansacCylinderProjectionMeshModifier (float min_radius, float max_radius, float distance_threshold, const Eigen::Vector3f &axis=Eigen::Vector3f::UnitZ(), float axis_threshold=10.0 *M_PI/180.0, float normal_distance_weight=0.1, unsigned min_vertices=1, int max_cylinders=-1, unsigned max_iterations=100)
	Constructor.
Public Member Functions inherited from noether::RansacPrimitiveFitMeshModifier
	RansacPrimitiveFitMeshModifier (float distance_threshold, unsigned min_vertices=1, int max_primitives=-1, unsigned max_iterations=100)
	Constructor.
std::vector< pcl::PolygonMesh >	modify (const pcl::PolygonMesh &mesh) const override

Protected Member Functions
pcl::PolygonMesh	createSubMesh (const pcl::PolygonMesh &mesh, std::shared_ptr< const pcl::RandomSampleConsensus< pcl::PointXYZ > > ransac) const override
	Creates a sub-mesh from the results of the model primitive fitting.
Protected Member Functions inherited from noether::RansacCylinderProjectionMeshModifier
std::shared_ptr< pcl::SampleConsensusModel< pcl::PointXYZ > >	createModel (const pcl::PolygonMesh &mesh) const override
	Creates a sample consensus model for the primitive.
pcl::PolygonMesh	createSubMesh (const pcl::PolygonMesh &mesh, std::shared_ptr< const pcl::RandomSampleConsensus< pcl::PointXYZ > > ransac) const override
	Creates a sub-mesh from the results of the model primitive fitting.

Protected Attributes
unsigned	resolution_
bool	include_caps_
bool	uniform_triangles_
Protected Attributes inherited from noether::RansacCylinderProjectionMeshModifier
float	min_radius_
float	max_radius_
Eigen::Vector3f	axis_
float	axis_threshold_
float	normal_distance_weight_
Protected Attributes inherited from noether::RansacPrimitiveFitMeshModifier
float	distance_threshold_
unsigned	min_vertices_
int	max_primitives_
unsigned	max_iterations_

Additional Inherited Members
Public Types inherited from noether::MeshModifier
using	Ptr = std::unique_ptr< MeshModifier >
using	ConstPtr = std::unique_ptr< const MeshModifier >

Constructor & Destructor Documentation

RansacCylinderFitMeshModifier()

noether::RansacCylinderFitMeshModifier::RansacCylinderFitMeshModifier	(	float	min_radius,
		float	max_radius,
		float	distance_threshold,
		const Eigen::Vector3f &	axis = Eigen::Vector3f::UnitZ(),
		float	axis_threshold = 10.0 * M_PI / 180.0,
		float	normal_distance_weight = 0.1,
		unsigned	min_vertices = 1,
		int	max_cylinders = -1,
		unsigned	max_iterations = 100,
		unsigned	resolution = 20,
		bool	include_caps = false,
		bool	uniform_triangles = true
	)

Parameters

min_radius	Minimum required cylinder radius (m)
max_radius	Maximum required cylinder radius (m)
distance_threshold	Maximum distance (m) a point can be from a model of a cylinder to be considered an inlier
axis	Predicted cylinder axis
axis_threshold	Maximum angle (radians) by which the axis of a detected cylinder can differ from the axis of the defined model cylinder
normal_distance_weight	Distance weighting amount given to normals (vs point positions) when comparing to the cylinder model (value from [0, 1])
min_vertices	Minimum number of vertices that a cluster (identfied as a cylinder) must have
max_cylinders	Maximum number of cylinders to detect
max_iterations	Maximum number of RANSAC iterations to perform
resolution	Number of vertices around the perimeter of the cylinder primitive
include_caps	Flag to indicate whether the caps should be included on the fitted cylinder primitive(s)
uniform_triangles	Flag to indicate whether the cylinder body should be constructed of uniform shaped triangles (true) or a minimum set of triangles (false)

Member Function Documentation

createSubMesh()

pcl::PolygonMesh noether::RansacCylinderFitMeshModifier::createSubMesh ( const pcl::PolygonMesh &  mesh, std::shared_ptr< const pcl::RandomSampleConsensus< pcl::PointXYZ > >  ransac  ) const

overrideprotectedvirtual

Parameters

mesh	Full input mesh
ransac	RANSAC model after successful completion of the model primitive fit

Returns

Implements noether::RansacPrimitiveFitMeshModifier.