ia_ransac.h

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#ifndef IA_RANSAC_H_
#define IA_RANSAC_H_

// PCL includes
#include "pcl/registration/registration.h"

namespace pcl
{

  template <typename PointSource, typename PointTarget, typename FeatureT>
  class SampleConsensusInitialAlignment : public Registration<PointSource, PointTarget>
  {
    using Registration<PointSource, PointTarget>::reg_name_;
    using Registration<PointSource, PointTarget>::getClassName;
    using Registration<PointSource, PointTarget>::input_;
    using Registration<PointSource, PointTarget>::indices_;
    using Registration<PointSource, PointTarget>::target_;
    using Registration<PointSource, PointTarget>::final_transformation_;
    using Registration<PointSource, PointTarget>::transformation_;
    using Registration<PointSource, PointTarget>::corr_dist_threshold_;
    using Registration<PointSource, PointTarget>::min_number_correspondences_;
    using Registration<PointSource, PointTarget>::max_iterations_;
    using Registration<PointSource, PointTarget>::tree_;

    typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
    typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
    typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

    typedef typename Registration<PointSource, PointTarget>::PointCloudTarget PointCloudTarget;

    typedef PointIndices::Ptr PointIndicesPtr;
    typedef PointIndices::ConstPtr PointIndicesConstPtr;

    typedef pcl::PointCloud<FeatureT> FeatureCloud;
    typedef typename FeatureCloud::Ptr FeatureCloudPtr;
    typedef typename FeatureCloud::ConstPtr FeatureCloudConstPtr;

    typedef typename KdTreeFLANN<FeatureT>::Ptr FeatureKdTreePtr; 

    public:

      SampleConsensusInitialAlignment () : nr_samples_(3)
      {
        reg_name_ = "SampleConsensusInitialAlignment";
        feature_tree_ = boost::make_shared<pcl::KdTreeFLANN<FeatureT> > ();
      };


      void setSourceFeatures (const FeatureCloudConstPtr &features);


      inline FeatureCloudConstPtr const getSourceFeatures () { return (input_features_); }


      void setTargetFeatures (const FeatureCloudConstPtr &features);


      inline FeatureCloudConstPtr const getTargetFeatures () { return (target_features_); }


      void setMinSampleDistance (float min_sample_distance) { min_sample_distance_ = min_sample_distance; }


      float getMinSampleDistance () { return (min_sample_distance_); }


      void setNumberOfSamples (int nr_samples) { nr_samples_ = nr_samples; }


      int getNumberOfSamples () { return (nr_samples_); }

    private:

      inline int getRandomIndex (int n) { return (n * (rand () / (RAND_MAX + 1.0))); };
      

      void selectSamples (const PointCloudSource &cloud, int nr_samples, float min_sample_distance, 
                          std::vector<int> &sample_indices);


      void findSimilarFeatures(const FeatureCloud &input_features, const std::vector<int> &sample_indices, 
                               std::vector<int> &corresponding_indices);


      float computeErrorMetric (const PointCloudSource &cloud, float threshold);

    protected:

      virtual void computeTransformation (PointCloudSource &output);

      
      FeatureCloudConstPtr input_features_;

      FeatureCloudConstPtr target_features_;  

      int nr_samples_;

      float min_sample_distance_;
     
      FeatureKdTreePtr feature_tree_;               

  };
}

#include "pcl/registration/ia_ransac.hpp"

#endif  //#ifndef IA_RANSAC_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013