Public Types | Public Member Functions | Protected Member Functions | Private Attributes
pcl::SampleConsensusModelRegistration2D< PointT > Class Template Reference

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 >:
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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.

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 63 of file sac_model_registration_2d.h.

Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.

Definition at line 65 of file sac_model_registration_2d.h.

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

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_coefficientsthe 4x4 transformation matrix
[out]distancesthe 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]samplesthe 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_coefficientsthe 4x4 transformation matrix
[in]thresholda maximum admissible distance threshold for determining the inliers from the outliers
[out]inliersthe 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]

Set the camera projection matrix.

Parameters:
[in]projection_matrixthe camera projection matrix

Definition at line 133 of file sac_model_registration_2d.h.


Member Data Documentation

template<typename PointT>
Eigen::Matrix3f pcl::SampleConsensusModelRegistration2D< PointT >::projection_matrix_ [private]

Camera projection matrix.

Definition at line 207 of file sac_model_registration_2d.h.


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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:43:35