SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection. More...

#include <pcl/sample_consensus/sac_model_registration.h>

Inheritance diagram for pcl::SampleConsensusModelRegistration< PointT >:

Collaboration diagram for pcl::SampleConsensusModelRegistration< PointT >:

Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud

typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr

typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < SampleConsensusModelRegistration >	Ptr

typedef pcl::search::Search < PointT >::Ptr	SearchPtr

typedef boost::shared_ptr < const SampleConsensusModel >	ConstPtr

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

	SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelRegistration. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

void	setInputTarget (const PointCloudConstPtr &target)
	Set the input point cloud target. More...

void	setInputTarget (const PointCloudConstPtr &target, const std::vector< int > &indices_tgt)
	Set the input point cloud target. More...

bool	computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)
	Compute a 4x4 rigid transformation matrix from the samples given. More...

void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the transformed points to their correspondences. More...

void	selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, std::vector< int > &inliers)
	Select all the points which respect the given model coefficients as inliers. More...

virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers. More...

void	optimizeModelCoefficients (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients)
	Recompute the 4x4 transformation using the given inlier set. More...

void	projectPoints (const std::vector< int > &, const Eigen::VectorXf &, PointCloud &, bool=true)
	Create a new point cloud with inliers projected onto the model. More...

bool	doSamplesVerifyModel (const std::set< int > &, const Eigen::VectorXf &, const double)
	Verify whether a subset of indices verifies a given set of model coefficients. More...

pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_REGISTRATION). More...

void	getSamples (int &iterations, std::vector< int > &samples)
	Get a set of random data samples and return them as point indices. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const boost::shared_ptr< std::vector< int > > &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const std::vector< int > &indices)
	Provide the vector of indices that represents the input data. More...

boost::shared_ptr< std::vector < int > >	getIndices () const
	Get a pointer to the vector of indices used. More...

unsigned int	getSampleSize () const
	Return the size of a sample from which a model is computed. 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)
	Get the minimum and maximum allowable radius limits for the model as set by the user. More...

void	setSamplesMaxDist (const double &radius, SearchPtr search)
	Set the maximum distance allowed when drawing random samples. More...

void	getSamplesMaxDist (double &radius)
	Get maximum distance allowed when drawing random samples. More...

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelRegistration< PointT >

SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.

Author: Radu Bogdan Rusu

Definition at line 57 of file sac_model_registration.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel< PointT >::ConstPtr

inherited

Definition at line 74 of file sac_model.h.

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelRegistration< PointT >::PointCloud

Definition at line 63 of file sac_model_registration.h.

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelRegistration< PointT >::PointCloudConstPtr

Definition at line 65 of file sac_model_registration.h.

template<typename PointT>

typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelRegistration< PointT >::PointCloudPtr

Definition at line 64 of file sac_model_registration.h.

template<typename PointT>

typedef boost::shared_ptr<SampleConsensusModelRegistration> pcl::SampleConsensusModelRegistration< PointT >::Ptr

Definition at line 67 of file sac_model_registration.h.

template<typename PointT>

typedef pcl::search::Search<PointT>::Ptr pcl::SampleConsensusModel< PointT >::SearchPtr

inherited

Definition at line 71 of file sac_model.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration ( const PointCloudConstPtr & cloud )

inline

Constructor for base SampleConsensusModelRegistration.

Parameters

[in] cloud the input point cloud dataset

Definition at line 72 of file sac_model_registration.h.

template<typename PointT>

pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices
	)

inline

Constructor for base SampleConsensusModelRegistration.

Parameters

[in]	cloud	the input point cloud dataset
[in]	indices	a vector of point indices to be used from cloud

Definition at line 87 of file sac_model_registration.h.

Member Function Documentation

template<typename PointT >

bool pcl::SampleConsensusModelRegistration< PointT >::computeModelCoefficients	(	const std::vector< int > &	samples,
		Eigen::VectorXf &	model_coefficients
	)

virtual

Compute a 4x4 rigid transformation matrix from the samples given.

Parameters

[in]	samples	the indices found as good candidates for creating a valid model
[out]	model_coefficients	the resultant model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 56 of file sac_model_registration.hpp.

template<typename PointT >

int pcl::SampleConsensusModelRegistration< PointT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)

virtual

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

Parameters

[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

Returns: the resultant number of inliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 170 of file sac_model_registration.hpp.

template<typename PointT>

bool pcl::SampleConsensusModelRegistration< PointT >::doSamplesVerifyModel	(	const std::set< int > &	indices,
		const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)

inlinevirtual

Verify whether a subset of indices verifies a given set of model coefficients.

Pure virtual.

Parameters

[in]	indices	the data indices that need to be tested against the model
[in]	model_coefficients	the set of model coefficients
[in]	threshold	a maximum admissible distance threshold for determining the inliers from the outliers

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 193 of file sac_model_registration.h.

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::getDistancesToModel	(	const Eigen::VectorXf &	model_coefficients,
		std::vector< double > &	distances
	)

virtual

Compute all distances from the transformed points to their correspondences.

Parameters

[in]	model_coefficients	the 4x4 transformation matrix
[out]	distances	the resultant estimated distances

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 77 of file sac_model_registration.hpp.

template<typename PointT>

boost::shared_ptr<std::vector<int> > pcl::SampleConsensusModel< PointT >::getIndices ( ) const

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 327 of file sac_model.h.

template<typename PointT>

PointCloudConstPtr pcl::SampleConsensusModel< PointT >::getInputCloud ( ) const

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 303 of file sac_model.h.

template<typename PointT>

pcl::SacModel pcl::SampleConsensusModelRegistration< PointT >::getModelType ( ) const

inlinevirtual

Return an unique id for this model (SACMODEL_REGISTRATION).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 202 of file sac_model_registration.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::getRadiusLimits	(	double &	min_radius,
		double &	max_radius
	)

inlineinherited

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

Parameters

[out]	min_radius	the resultant minimum radius model
[out]	max_radius	the resultant maximum radius model

Definition at line 363 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::getSamples	(	int &	iterations,
		std::vector< int > &	samples
	)

inlineinherited

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

Pure virtual.

Parameters

[out]	iterations	the internal number of iterations used by SAC methods
[out]	samples	the resultant model samples

Definition at line 163 of file sac_model.h.

template<typename PointT>

unsigned int pcl::SampleConsensusModel< PointT >::getSampleSize ( ) const

inlineinherited

Return the size of a sample from which a model is computed.

Definition at line 335 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::getSamplesMaxDist ( double & radius )

inlineinherited

Get maximum distance allowed when drawing random samples.

Parameters

[out] radius the maximum distance (L2 norm)

Definition at line 384 of file sac_model.h.

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::optimizeModelCoefficients	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)

virtual

Recompute the 4x4 transformation using the given inlier set.

Parameters

[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 transformation

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 214 of file sac_model_registration.hpp.

template<typename PointT>

void pcl::SampleConsensusModelRegistration< PointT >::projectPoints	(	const std::vector< int > &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		PointCloud &	projected_points,
		bool	copy_data_fields = `true`
	)

inlinevirtual

Create a new point cloud with inliers projected onto the model.

Pure virtual.

Parameters

[in]	inliers	the data inliers that we want to project on the model
[in]	model_coefficients	the coefficients of a model
[out]	projected_points	the resultant projected points
[in]	copy_data_fields	set to true (default) if we want the projected_points cloud to be an exact copy of the input dataset minus the point projections on the plane model

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 186 of file sac_model_registration.h.

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		std::vector< int > &	inliers
	)

virtual

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

Parameters

[in]	model_coefficients	the 4x4 transformation matrix
[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 121 of file sac_model_registration.hpp.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setIndices ( const boost::shared_ptr< std::vector< int > > & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in] indices a pointer to the vector of indices that represents the input data.

Definition at line 309 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setIndices ( const std::vector< int > & indices )

inlineinherited

Provide the vector of indices that represents the input data.

Parameters

[out] indices the vector of indices that represents the input data.

Definition at line 319 of file sac_model.h.

template<typename PointT>

virtual void pcl::SampleConsensusModelRegistration< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtual

Provide a pointer to the input dataset.

Parameters

[in] cloud the const boost shared pointer to a PointCloud message

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 103 of file sac_model_registration.h.

template<typename PointT>

void pcl::SampleConsensusModelRegistration< PointT >::setInputTarget ( const PointCloudConstPtr & target )

inline

Set the input point cloud target.

Parameters

target the input point cloud target

Definition at line 114 of file sac_model_registration.h.

template<typename PointT>

void pcl::SampleConsensusModelRegistration< PointT >::setInputTarget	(	const PointCloudConstPtr &	target,
		const std::vector< int > &	indices_tgt
	)

inline

Set the input point cloud target.

Parameters

[in]	target	the input point cloud target
[in]	indices_tgt	a vector of point indices to be used from target

Definition at line 132 of file sac_model_registration.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setRadiusLimits	(	const double &	min_radius,
		const double &	max_radius
	)

inlineinherited

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

Parameters

[in]	min_radius	the minimum radius model
[in]	max_radius	the maximum radius model

Definition at line 350 of file sac_model.h.

template<typename PointT>

void pcl::SampleConsensusModel< PointT >::setSamplesMaxDist	(	const double &	radius,
		SearchPtr	search
	)

inlineinherited

Set the maximum distance allowed when drawing random samples.

Parameters

[in] radius the maximum distance (L2 norm)

Definition at line 373 of file sac_model.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/sample_consensus/include/pcl/sample_consensus/sac_model_registration.h
/builddir/build/BUILD/PCL-1.6.0-Source/sample_consensus/include/pcl/sample_consensus/impl/sac_model_registration.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::SampleConsensusModelRegistration< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::SampleConsensusModelRegistration< PointT >