Point Cloud Library (PCL)  1.8.1-dev
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pcl::SampleConsensusModelRegistration2D< PointT > Class Template Reference

SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels. More...

#include <pcl/sample_consensus/sac_model_registration_2d.h>

+ Inheritance diagram for pcl::SampleConsensusModelRegistration2D< PointT >:

Public Types

typedef
pcl::SampleConsensusModel
< PointT >::PointCloud 
PointCloud
 
typedef
pcl::SampleConsensusModel
< PointT >::PointCloudPtr 
PointCloudPtr
 
typedef
pcl::SampleConsensusModel
< PointT >::PointCloudConstPtr 
PointCloudConstPtr
 
typedef boost::shared_ptr
< SampleConsensusModelRegistration2D
Ptr
 
typedef boost::shared_ptr
< const
SampleConsensusModelRegistration2D
ConstPtr
 
- Public Types inherited from pcl::SampleConsensusModelRegistration< PointT >
typedef SampleConsensusModel
< PointT >::PointCloud 
PointCloud
 
typedef SampleConsensusModel
< PointT >::PointCloudPtr 
PointCloudPtr
 
typedef SampleConsensusModel
< PointT >::PointCloudConstPtr 
PointCloudConstPtr
 
typedef boost::shared_ptr
< SampleConsensusModelRegistration
Ptr
 
- Public Types inherited from pcl::SampleConsensusModel< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef pcl::PointCloud
< PointT >::ConstPtr 
PointCloudConstPtr
 
typedef pcl::PointCloud
< PointT >::Ptr 
PointCloudPtr
 
typedef pcl::search::Search
< PointT >::Ptr 
SearchPtr
 
typedef boost::shared_ptr
< SampleConsensusModel
Ptr
 
typedef boost::shared_ptr
< const SampleConsensusModel
ConstPtr
 

Public Member Functions

 SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelRegistration2D. More...
 
 SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelRegistration2D. More...
 
virtual ~SampleConsensusModelRegistration2D ()
 Empty destructor. 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 setProjectionMatrix (const Eigen::Matrix3f &projection_matrix)
 Set the camera projection matrix. More...
 
Eigen::Matrix3f getProjectionMatrix () const
 Get the camera projection matrix. More...
 
- Public Member Functions inherited from pcl::SampleConsensusModelRegistration< PointT >
 SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModelRegistration. More...
 
 SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModelRegistration. More...
 
virtual ~SampleConsensusModelRegistration ()
 Empty destructor. 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 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...
 
- Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
 Constructor for base SampleConsensusModel. More...
 
 SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
 Constructor for base SampleConsensusModel. More...
 
virtual ~SampleConsensusModel ()
 Destructor for base SampleConsensusModel. More...
 
virtual 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...
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
unsigned int getSampleSize () const
 Return the size of a sample from which the model is computed. More...
 
unsigned int getModelSize () const
 Return the number of coefficients in the model. 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...
 
double computeVariance (const std::vector< double > &error_sqr_dists)
 Compute the variance of the errors to the model. More...
 
double computeVariance ()
 Compute the variance of the errors to the model from the internally estimated vector of distances. More...
 

Protected Member Functions

bool isSampleGood (const std::vector< int > &samples) const
 Check if a sample of indices results in a good sample of points indices. More...
 
void computeSampleDistanceThreshold (const PointCloudConstPtr &)
 Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More...
 
void computeSampleDistanceThreshold (const PointCloudConstPtr &, const std::vector< int > &)
 Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More...
 
- Protected Member Functions inherited from pcl::SampleConsensusModelRegistration< PointT >
void computeSampleDistanceThreshold (const PointCloudConstPtr &cloud)
 Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More...
 
void computeSampleDistanceThreshold (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
 Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More...
 
void estimateRigidTransformationSVD (const pcl::PointCloud< PointT > &cloud_src, const std::vector< int > &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, const std::vector< int > &indices_tgt, Eigen::VectorXf &transform)
 Estimate a rigid transformation between a source and a target point cloud using an SVD closed-form solution of absolute orientation using unit quaternions. More...
 
void computeOriginalIndexMapping ()
 Compute mappings between original indices of the input_/target_ clouds. More...
 
- Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
 SampleConsensusModel (bool random=false)
 Empty constructor for base SampleConsensusModel. More...
 
void drawIndexSample (std::vector< int > &sample)
 Fills a sample array with random samples from the indices_ vector. More...
 
void drawIndexSampleRadius (std::vector< int > &sample)
 Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More...
 
virtual bool isModelValid (const Eigen::VectorXf &model_coefficients)
 Check whether a model is valid given the user constraints. More...
 
int rnd ()
 Boost-based random number generator. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::SampleConsensusModelRegistration< PointT >
PointCloudConstPtr target_
 A boost shared pointer to the target point cloud data array. More...
 
boost::shared_ptr< std::vector
< int > > 
indices_tgt_
 A pointer to the vector of target point indices to use. More...
 
std::map< int, int > correspondences_
 Given the index in the original point cloud, give the matching original index in the target cloud. More...
 
double sample_dist_thresh_
 Internal distance threshold used for the sample selection step. More...
 
- Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
std::string model_name_
 The model name. More...
 
PointCloudConstPtr input_
 A boost shared pointer to the point cloud data array. More...
 
boost::shared_ptr< std::vector
< int > > 
indices_
 A pointer to the vector of point indices to use. More...
 
double radius_min_
 The minimum and maximum radius limits for the model. More...
 
double radius_max_
 
double samples_radius_
 The maximum distance of subsequent samples from the first (radius search) More...
 
SearchPtr samples_radius_search_
 The search object for picking subsequent samples using radius search. More...
 
std::vector< int > shuffled_indices_
 Data containing a shuffled version of the indices. More...
 
boost::mt19937 rng_alg_
 Boost-based random number generator algorithm. More...
 
boost::shared_ptr
< boost::uniform_int<> > 
rng_dist_
 Boost-based random number generator distribution. More...
 
boost::shared_ptr
< boost::variate_generator
< boost::mt19937
&, boost::uniform_int<> > > 
rng_gen_
 Boost-based random number generator. More...
 
std::vector< double > error_sqr_dists_
 A vector holding the distances to the computed model. More...
 
unsigned int sample_size_
 The size of a sample from which the model is computed. More...
 
unsigned int model_size_
 The number of coefficients in the model. More...
 
- Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
static const unsigned int max_sample_checks_ = 1000
 The maximum number of samples to try until we get a good one. More...
 

Detailed Description

template<typename PointT>
class pcl::SampleConsensusModelRegistration2D< PointT >

SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels.

Author
Radu B. Rusu

Definition at line 51 of file sac_model_registration_2d.h.

Member Typedef Documentation

template<typename PointT>
typedef boost::shared_ptr<const SampleConsensusModelRegistration2D> pcl::SampleConsensusModelRegistration2D< PointT >::ConstPtr

Definition at line 70 of file sac_model_registration_2d.h.

Definition at line 65 of file sac_model_registration_2d.h.

Definition at line 67 of file sac_model_registration_2d.h.

Definition at line 66 of file sac_model_registration_2d.h.

template<typename PointT>
typedef boost::shared_ptr<SampleConsensusModelRegistration2D> pcl::SampleConsensusModelRegistration2D< PointT >::Ptr

Definition at line 69 of file sac_model_registration_2d.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D ( const PointCloudConstPtr cloud,
bool  random = false 
)
inline

Constructor for base SampleConsensusModelRegistration2D.

Parameters
[in]cloudthe input point cloud dataset
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 76 of file sac_model_registration_2d.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, pcl::SampleConsensusModel< PointT >::sample_size_, and pcl::SampleConsensusModelRegistration< PointT >::setInputCloud().

template<typename PointT>
pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D ( const PointCloudConstPtr cloud,
const std::vector< int > &  indices,
bool  random = false 
)
inline

Constructor for base SampleConsensusModelRegistration2D.

Parameters
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 93 of file sac_model_registration_2d.h.

References pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping(), pcl::SampleConsensusModelRegistration2D< PointT >::computeSampleDistanceThreshold(), pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

template<typename PointT>
virtual pcl::SampleConsensusModelRegistration2D< PointT >::~SampleConsensusModelRegistration2D ( )
inlinevirtual

Empty destructor.

Definition at line 107 of file sac_model_registration_2d.h.

Member Function Documentation

template<typename PointT>
void pcl::SampleConsensusModelRegistration2D< PointT >::computeSampleDistanceThreshold ( const PointCloudConstPtr )
inlineprotected

Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.

Definition at line 164 of file sac_model_registration_2d.h.

Referenced by pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D().

template<typename PointT>
void pcl::SampleConsensusModelRegistration2D< PointT >::computeSampleDistanceThreshold ( const PointCloudConstPtr ,
const std::vector< int > &   
)
inlineprotected

Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.

Definition at line 191 of file sac_model_registration_2d.h.

template<typename PointT >
int pcl::SampleConsensusModelRegistration2D< 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_coefficientsthe coefficients of a model that we need to compute distances to
[in]thresholdmaximum admissible distance threshold for determining the inliers from the outliers
Returns
the resultant number of inliers

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 178 of file sac_model_registration_2d.hpp.

template<typename PointT >
void pcl::SampleConsensusModelRegistration2D< 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_coefficientsthe 4x4 transformation matrix
[out]distancesthe resultant estimated distances

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 64 of file sac_model_registration_2d.hpp.

template<typename PointT>
Eigen::Matrix3f pcl::SampleConsensusModelRegistration2D< PointT >::getProjectionMatrix ( ) const
inline

Get the camera projection matrix.

Definition at line 146 of file sac_model_registration_2d.h.

template<typename PointT >
bool pcl::SampleConsensusModelRegistration2D< PointT >::isSampleGood ( const std::vector< int > &  samples) const
protectedvirtual

Check if a sample of indices results in a good sample of points indices.

Parameters
[in]samplesthe resultant index samples

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 47 of file sac_model_registration_2d.hpp.

template<typename PointT >
void pcl::SampleConsensusModelRegistration2D< 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_coefficientsthe 4x4 transformation matrix
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe resultant model inliers

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 116 of file sac_model_registration_2d.hpp.

template<typename PointT>
void pcl::SampleConsensusModelRegistration2D< PointT >::setProjectionMatrix ( const Eigen::Matrix3f &  projection_matrix)
inline

Set the camera projection matrix.

Parameters
[in]projection_matrixthe camera projection matrix

Definition at line 141 of file sac_model_registration_2d.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences().


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