Point Cloud Library (PCL)
1.3.1
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SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection. More...
#include <pcl/sample_consensus/sac_model_registration.h>
Public Types | |
typedef SampleConsensusModel < PointT >::PointCloud | PointCloud |
typedef SampleConsensusModel < PointT >::PointCloudPtr | PointCloudPtr |
typedef SampleConsensusModel < PointT >::PointCloudConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < SampleConsensusModelRegistration > | Ptr |
typedef boost::shared_ptr < const SampleConsensusModel > | ConstPtr |
Public Member Functions | |
SampleConsensusModelRegistration (const PointCloudConstPtr &cloud) | |
Constructor for base SampleConsensusModelRegistration. | |
SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, const std::vector< int > &indices) | |
Constructor for base SampleConsensusModelRegistration. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
void | setInputTarget (const PointCloudConstPtr &target) |
Set the input point cloud target. | |
void | setInputTarget (const PointCloudConstPtr &target, const std::vector< int > &indices_tgt) |
Set the input point cloud target. | |
bool | computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients) |
Compute a 4x4 rigid transformation matrix from the samples given. | |
void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
Compute all distances from the transformed points to their correspondences. | |
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. | |
virtual int | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) |
Count all the points which respect the given model coefficients as inliers. | |
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. | |
void | projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true) |
bool | doSamplesVerifyModel (const std::set< int > &indices, const Eigen::VectorXf &model_coefficients, const double threshold) |
Verify whether a subset of indices verifies a given set of model coefficients. | |
pcl::SacModel | getModelType () const |
Return an unique id for this model (SACMODEL_REGISTRATION). | |
void | getSamples (int &iterations, std::vector< int > &samples) |
Get a set of random data samples and return them as point indices. | |
virtual void | projectPoints (const std::vector< int > &inliers, const Eigen::VectorXf &model_coefficients, PointCloud &projected_points, bool copy_data_fields=true)=0 |
Create a new point cloud with inliers projected onto the model. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const boost::shared_ptr< std::vector< int > > &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const std::vector< int > &indices) |
Provide the vector of indices that represents the input data. | |
boost::shared_ptr< std::vector < int > > | getIndices () const |
Get a pointer to the vector of indices used. | |
unsigned int | getSampleSize () const |
Return the size of a sample from which a model is computed. | |
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) | |
void | getRadiusLimits (double &min_radius, double &max_radius) |
Get the minimum and maximum allowable radius limits for the model as set by the user. | |
Friends | |
class | ProgressiveSampleConsensus< PointT > |
SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.
typedef boost::shared_ptr<const SampleConsensusModel> pcl::SampleConsensusModel::ConstPtr [inherited] |
Definition at line 72 of file sac_model.h.
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 63 of file sac_model_registration.h.
typedef SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelRegistration::PointCloudConstPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 65 of file sac_model_registration.h.
typedef SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelRegistration::PointCloudPtr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 64 of file sac_model_registration.h.
typedef boost::shared_ptr<SampleConsensusModelRegistration> pcl::SampleConsensusModelRegistration::Ptr |
Reimplemented from pcl::SampleConsensusModel< PointT >.
Definition at line 67 of file sac_model_registration.h.
pcl::SampleConsensusModelRegistration::SampleConsensusModelRegistration | ( | const PointCloudConstPtr & | cloud | ) | [inline] |
Constructor for base SampleConsensusModelRegistration.
[in] | cloud | the input point cloud dataset |
Definition at line 72 of file sac_model_registration.h.
pcl::SampleConsensusModelRegistration::SampleConsensusModelRegistration | ( | const PointCloudConstPtr & | cloud, |
const std::vector< int > & | indices | ||
) | [inline] |
Constructor for base SampleConsensusModelRegistration.
[in] | cloud | the input point cloud dataset |
[in] | indices | a vector of point indices to be used from cloud |
Definition at line 82 of file sac_model_registration.h.
bool pcl::SampleConsensusModelRegistration::computeModelCoefficients | ( | const std::vector< int > & | samples, |
Eigen::VectorXf & | model_coefficients | ||
) | [virtual] |
Compute a 4x4 rigid transformation matrix from the samples given.
[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 54 of file sac_model_registration.hpp.
int pcl::SampleConsensusModelRegistration::countWithinDistance | ( | const Eigen::VectorXf & | model_coefficients, |
const double | threshold | ||
) | [virtual] |
Count all the points which respect the given model coefficients as inliers.
[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 |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 168 of file sac_model_registration.hpp.
bool pcl::SampleConsensusModelRegistration::doSamplesVerifyModel | ( | const std::set< int > & | indices, |
const Eigen::VectorXf & | model_coefficients, | ||
const double | threshold | ||
) | [inline, virtual] |
Verify whether a subset of indices verifies a given set of model coefficients.
Pure virtual.
[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 183 of file sac_model_registration.h.
void pcl::SampleConsensusModelRegistration::getDistancesToModel | ( | const Eigen::VectorXf & | model_coefficients, |
std::vector< double > & | distances | ||
) | [virtual] |
Compute all distances from the transformed points to their correspondences.
[in] | model_coefficients | the 4x4 transformation matrix |
[out] | distances | the resultant estimated distances |
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 75 of file sac_model_registration.hpp.
boost::shared_ptr<std::vector<int> > pcl::SampleConsensusModel::getIndices | ( | ) | const [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 277 of file sac_model.h.
PointCloudConstPtr pcl::SampleConsensusModel::getInputCloud | ( | ) | const [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 253 of file sac_model.h.
pcl::SacModel pcl::SampleConsensusModelRegistration::getModelType | ( | ) | const [inline, virtual] |
Return an unique id for this model (SACMODEL_REGISTRATION).
Implements pcl::SampleConsensusModel< PointT >.
Definition at line 193 of file sac_model_registration.h.
void pcl::SampleConsensusModel::getRadiusLimits | ( | double & | min_radius, |
double & | max_radius | ||
) | [inline, inherited] |
Get the minimum and maximum allowable radius limits for the model as set by the user.
[out] | min_radius | the resultant minimum radius model |
[out] | max_radius | the resultant maximum radius model |
Definition at line 313 of file sac_model.h.
void pcl::SampleConsensusModel::getSamples | ( | int & | iterations, |
std::vector< int > & | samples | ||
) | [inline, inherited] |
Get a set of random data samples and return them as point indices.
Pure virtual.
[out] | iterations | the internal number of iterations used by SAC methods |
[out] | samples | the resultant model samples |
Reimplemented in pcl::SampleConsensusModelCylinder, pcl::SampleConsensusModelSphere, pcl::SampleConsensusModelStick, pcl::SampleConsensusModelCircle2D, and pcl::SampleConsensusModelLine.
Definition at line 116 of file sac_model.h.
unsigned int pcl::SampleConsensusModel::getSampleSize | ( | ) | const [inline, inherited] |
Return the size of a sample from which a model is computed.
Definition at line 285 of file sac_model.h.
void pcl::SampleConsensusModelRegistration::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.
[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 212 of file sac_model_registration.hpp.
void pcl::SampleConsensusModelRegistration::projectPoints | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
PointCloud & | projected_points, | ||
bool | copy_data_fields = true |
||
) | [inline] |
Definition at line 177 of file sac_model_registration.h.
virtual void pcl::SampleConsensusModel::projectPoints | ( | const std::vector< int > & | inliers, |
const Eigen::VectorXf & | model_coefficients, | ||
PointCloud & | projected_points, | ||
bool | copy_data_fields = true |
||
) | [pure virtual, inherited] |
Create a new point cloud with inliers projected onto the model.
Pure virtual.
[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 |
void pcl::SampleConsensusModelRegistration::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.
[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 119 of file sac_model_registration.hpp.
void pcl::SampleConsensusModel::setIndices | ( | const boost::shared_ptr< std::vector< int > > & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
[in] | indices | a pointer to the vector of indices that represents the input data. |
Definition at line 259 of file sac_model.h.
void pcl::SampleConsensusModel::setIndices | ( | const std::vector< int > & | indices | ) | [inline, inherited] |
Provide the vector of indices that represents the input data.
[out] | indices | the vector of indices that represents the input data. |
Definition at line 269 of file sac_model.h.
virtual void pcl::SampleConsensusModelRegistration::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual] |
Provide a pointer to the input dataset.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 94 of file sac_model_registration.h.
virtual void pcl::SampleConsensusModel::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 236 of file sac_model.h.
void pcl::SampleConsensusModelRegistration::setInputTarget | ( | const PointCloudConstPtr & | target | ) | [inline] |
Set the input point cloud target.
target | the input point cloud target |
Definition at line 105 of file sac_model_registration.h.
void pcl::SampleConsensusModelRegistration::setInputTarget | ( | const PointCloudConstPtr & | target, |
const std::vector< int > & | indices_tgt | ||
) | [inline] |
Set the input point cloud target.
[in] | target | the input point cloud target |
[in] | indices_tgt | a vector of point indices to be used from target |
Definition at line 123 of file sac_model_registration.h.
void pcl::SampleConsensusModel::setRadiusLimits | ( | const double & | min_radius, |
const double & | max_radius | ||
) | [inline, inherited] |
Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius)
[in] | min_radius | the minimum radius model |
[in] | max_radius | the maximum radius model |
Definition at line 300 of file sac_model.h.
friend class ProgressiveSampleConsensus< PointT > [friend, inherited] |
Definition at line 319 of file sac_model.h.