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

#include <sac_model_registration_2d.h>

Inheritance diagram for pcl::SampleConsensusModelRegistration2D< PointT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const SampleConsensusModelRegistration2D >	ConstPtr
typedef pcl::SampleConsensusModel < PointT >::PointCloud	PointCloud
typedef pcl::SampleConsensusModel < PointT >::PointCloudConstPtr	PointCloudConstPtr
typedef pcl::SampleConsensusModel < PointT >::PointCloudPtr	PointCloudPtr
typedef boost::shared_ptr < SampleConsensusModelRegistration2D >	Ptr
Public Member Functions
virtual int	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold)
	Count all the points which respect the given model coefficients as inliers.
void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances)
	Compute all distances from the transformed points to their correspondences.
Eigen::Matrix3f	getProjectionMatrix () const
	Get the camera projection matrix.
	SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelRegistration2D.
	SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
	Constructor for base SampleConsensusModelRegistration2D.
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.
void	setProjectionMatrix (const Eigen::Matrix3f &projection_matrix)
	Set the camera projection matrix.
virtual	~SampleConsensusModelRegistration2D ()
	Empty destructor.
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	isSampleGood (const std::vector< int > &samples) const
	Check if a sample of indices results in a good sample of points indices.
Private Attributes
Eigen::Matrix3f	projection_matrix_
	Camera projection matrix.

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

Reimplemented from pcl::SampleConsensusModel< PointT >.

Definition at line 68 of file sac_model_registration_2d.h.

template<typename PointT>

typedef pcl::SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelRegistration2D< PointT >::PointCloud

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 63 of file sac_model_registration_2d.h.

template<typename PointT>

typedef pcl::SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelRegistration2D< PointT >::PointCloudConstPtr

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 65 of file sac_model_registration_2d.h.

template<typename PointT>

typedef pcl::SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelRegistration2D< PointT >::PointCloudPtr

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 64 of file sac_model_registration_2d.h.

template<typename PointT>

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

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 67 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]	cloud	the input point cloud dataset
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 74 of file sac_model_registration_2d.h.

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

Definition at line 88 of file sac_model_registration_2d.h.

template<typename PointT>

virtual pcl::SampleConsensusModelRegistration2D< PointT >::~SampleConsensusModelRegistration2D ( ) [inline, virtual]

Empty destructor.

Definition at line 99 of file sac_model_registration_2d.h.

Member Function Documentation

template<typename PointT>

void pcl::SampleConsensusModelRegistration2D< 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

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 154 of file sac_model_registration_2d.h.

template<typename PointT>

void pcl::SampleConsensusModelRegistration2D< 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

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 182 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_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

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 184 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_coefficients	the 4x4 transformation matrix
[out]	distances	the 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 138 of file sac_model_registration_2d.h.

template<typename PointT >

bool pcl::SampleConsensusModelRegistration2D< 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

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_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

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 119 of file sac_model_registration_2d.hpp.

template<typename PointT>

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