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

#include <sac_model_registration.h>

Inheritance diagram for pcl::SampleConsensusModelRegistration< PointT >:

Public Types
typedef SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelRegistration >	Ptr
Public Member Functions
bool	computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients)
	Compute a 4x4 rigid transformation matrix from the samples given.
virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers.
bool	doSamplesVerifyModel (const std::set< int > &, const Eigen::VectorXf &, const double)
	Verify whether a subset of indices verifies a given set of model coefficients. Pure virtual.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the transformed points to their correspondences.
pcl::SacModel	getModelType () const
	Return an unique id for this model (SACMODEL_REGISTRATION).
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 > &, const Eigen::VectorXf &, PointCloud &, bool=true)
	Create a new point cloud with inliers projected onto the model. Pure virtual.
	SampleConsensusModelRegistration (const PointCloudConstPtr &cloud)
	Constructor for base SampleConsensusModelRegistration.
	SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, const std::vector< int > &indices)
	Constructor for base SampleConsensusModelRegistration.
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 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.
Protected Member Functions
void	computeSampleDistanceThreshold (const PointCloudConstPtr &cloud)
	Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.
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.
bool	isModelValid (const Eigen::VectorXf &model_coefficients)
	Check whether a model is valid given the user constraints.
bool	isSampleGood (const std::vector< int > &samples) const
	Check if a sample of indices results in a good sample of points indices.
Private Member Functions
void	computeOriginalIndexMapping ()
	Compute mappings between original indices of the input_/target_ clouds.
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.
Private Attributes
boost::unordered_map< int, int >	correspondences_
	Given the index in the original point cloud, give the matching original index in the target cloud.
boost::shared_ptr< std::vector < int > >	indices_tgt_
	A pointer to the vector of target point indices to use.
double	sample_dist_thresh_
	Internal distance threshold used for the sample selection step.
PointCloudConstPtr	target_
	A boost shared pointer to the target point cloud data array.

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 63 of file sac_model_registration.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 65 of file sac_model_registration.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 64 of file sac_model_registration.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 67 of file sac_model_registration.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>

void pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping ( ) [inline, private]

Compute mappings between original indices of the input_/target_ clouds.

Definition at line 303 of file sac_model_registration.h.

template<typename PointT>

void pcl::SampleConsensusModelRegistration< PointT >::computeSampleDistanceThreshold ( const PointCloudConstPtr & cloud ) [inline, protected]

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

Parameters:

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

Definition at line 230 of file sac_model_registration.h.

template<typename PointT>

void pcl::SampleConsensusModelRegistration< PointT >::computeSampleDistanceThreshold	(	const PointCloudConstPtr &	cloud,
		const std::vector< int > &	indices
	)		`[inline, protected]`

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

Parameters:

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

Definition at line 258 of file sac_model_registration.h.

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
	)		`[inline, virtual]`

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 >::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
	)		`[private]`

Estimate a rigid transformation between a source and a target point cloud using an SVD closed-form solution of absolute orientation using unit quaternions.

Parameters:

[in]	cloud_src	the source point cloud dataset
[in]	indices_src	the vector of indices describing the points of interest in cloud_src
[in]	cloud_tgt	the target point cloud dataset
[in]	indices_tgt	the vector of indices describing the correspondences of the interest points from indices_src
[out]	transform	the resultant transformation matrix (as model coefficients)

This method is an implementation of: Horn, B. “Closed-Form Solution of Absolute Orientation Using Unit Quaternions,” JOSA A, Vol. 4, No. 4, 1987

Definition at line 244 of file sac_model_registration.hpp.

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>

pcl::SacModel pcl::SampleConsensusModelRegistration< PointT >::getModelType ( ) const [inline, virtual]

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>

bool pcl::SampleConsensusModelRegistration< PointT >::isModelValid ( const Eigen::VectorXf & model_coefficients ) [inline, protected, virtual]

Check whether a model is valid given the user constraints.

Parameters:

[in] model_coefficients the set of model coefficients

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 209 of file sac_model_registration.h.

template<typename PointT >

bool pcl::SampleConsensusModelRegistration< PointT >::isSampleGood ( const std::vector< int > & samples ) const [protected, virtual]

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

Parameters:

[in] samples the resultant index samples

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 47 of file sac_model_registration.hpp.

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`
	)		`[inline, virtual]`

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>

virtual void pcl::SampleConsensusModelRegistration< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual]

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.

Member Data Documentation

template<typename PointT>

boost::unordered_map<int, int> pcl::SampleConsensusModelRegistration< PointT >::correspondences_ [private]

Given the index in the original point cloud, give the matching original index in the target cloud.

Definition at line 318 of file sac_model_registration.h.

template<typename PointT>

boost::shared_ptr<std::vector<int> > pcl::SampleConsensusModelRegistration< PointT >::indices_tgt_ [private]

A pointer to the vector of target point indices to use.

Definition at line 315 of file sac_model_registration.h.

template<typename PointT>

double pcl::SampleConsensusModelRegistration< PointT >::sample_dist_thresh_ [private]

Internal distance threshold used for the sample selection step.

Definition at line 321 of file sac_model_registration.h.

template<typename PointT>

PointCloudConstPtr pcl::SampleConsensusModelRegistration< PointT >::target_ [private]

A boost shared pointer to the target point cloud data array.

Definition at line 312 of file sac_model_registration.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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