Point Cloud Library (PCL)  1.3.1
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pcl::SampleConsensusModelRegistration Class Reference

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

#include <pcl/sample_consensus/sac_model_registration.h>

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List of all members.

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 >

Detailed Description

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

Author:
Radu Bogdan Rusu

Member Typedef Documentation

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.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 65 of file sac_model_registration.h.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 64 of file sac_model_registration.h.

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 67 of file sac_model_registration.h.


Constructor & Destructor Documentation

pcl::SampleConsensusModelRegistration::SampleConsensusModelRegistration ( const PointCloudConstPtr cloud) [inline]

Constructor for base SampleConsensusModelRegistration.

Parameters:
[in]cloudthe 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.

Parameters:
[in]cloudthe input point cloud dataset
[in]indicesa vector of point indices to be used from cloud

Definition at line 82 of file sac_model_registration.h.


Member Function Documentation

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

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

Parameters:
[in]samplesthe indices found as good candidates for creating a valid model
[out]model_coefficientsthe 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.

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

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.

Parameters:
[in]indicesthe data indices that need to be tested against the model
[in]model_coefficientsthe set of model coefficients
[in]thresholda 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.

Parameters:
[in]model_coefficientsthe 4x4 transformation matrix
[out]distancesthe 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.

Parameters:
[out]min_radiusthe resultant minimum radius model
[out]max_radiusthe 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.

Parameters:
[out]iterationsthe internal number of iterations used by SAC methods
[out]samplesthe 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.

Parameters:
[in]inliersthe data inliers found as supporting the model
[in]model_coefficientsthe initial guess for the optimization
[out]optimized_coefficientsthe 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.

Parameters:
[in]inliersthe data inliers that we want to project on the model
[in]model_coefficientsthe coefficients of a model
[out]projected_pointsthe resultant projected points
[in]copy_data_fieldsset 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.

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

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.

Parameters:
[in]indicesa 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.

Parameters:
[out]indicesthe 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.

Parameters:
[in]cloudthe 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.

Parameters:
[in]cloudthe 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.

Parameters:
targetthe 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.

Parameters:
[in]targetthe input point cloud target
[in]indices_tgta 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)

Parameters:
[in]min_radiusthe minimum radius model
[in]max_radiusthe maximum radius model

Definition at line 300 of file sac_model.h.


Friends And Related Function Documentation

friend class ProgressiveSampleConsensus< PointT > [friend, inherited]

Definition at line 319 of file sac_model.h.


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