sac_model_registration.h

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 * $Id: sac_model_registration.h 36095 2011-02-19 22:24:01Z rusu $
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#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_

#include <pcl/sample_consensus/sac_model.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/registration/registration.h>
#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointT>
  class SampleConsensusModelRegistration : public SampleConsensusModel<PointT>
  {
    using SampleConsensusModel<PointT>::input_;
    using SampleConsensusModel<PointT>::indices_;

    public:
      typedef typename SampleConsensusModel<PointT>::PointCloud PointCloud;
      typedef typename SampleConsensusModel<PointT>::PointCloudPtr PointCloudPtr;
      typedef typename SampleConsensusModel<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<SampleConsensusModelRegistration> Ptr;

      SampleConsensusModelRegistration (const PointCloudConstPtr &cloud) : SampleConsensusModel<PointT> (cloud)
      {
        setInputCloud (cloud);
      }

      SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, 
                                        const std::vector<int> &indices) : 
        SampleConsensusModel<PointT> (cloud, indices)
      {
        input_ = cloud;
        computeSampleDistanceThreshold (cloud);
      }

      inline virtual void
      setInputCloud (const PointCloudConstPtr &cloud)
      {
        SampleConsensusModel<PointT>::setInputCloud (cloud);
        computeSampleDistanceThreshold (cloud);
      }

      inline void 
      computeSampleDistanceThreshold (const PointCloudConstPtr &cloud)
      {
        // Compute the principal directions via PCA
        Eigen::Vector4f xyz_centroid;
        compute3DCentroid (*cloud, xyz_centroid);
        EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
        computeCovarianceMatrixNormalized (*cloud, xyz_centroid, covariance_matrix);
        EIGEN_ALIGN16 Eigen::Vector3f eigen_values;
        EIGEN_ALIGN16 Eigen::Matrix3f eigen_vectors;
        pcl::eigen33 (covariance_matrix, eigen_vectors, eigen_values);

        // Compute the distance threshold for sample selection
        sample_dist_thresh_ = eigen_values.array ().sqrt ().sum () / 3.0;
        sample_dist_thresh_ *= sample_dist_thresh_;
        ROS_DEBUG ("[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f", sample_dist_thresh_);
      }

      inline void
      setInputTarget (const PointCloudConstPtr &target)
      {
        target_ = target;
        // Cache the size and fill the target indices
        unsigned int target_size = target->size();
        indices_tgt_->resize(target_size);
        for (unsigned int i = 0; i < target_size; ++i)
          indices_tgt_->push_back(i);
      }

      inline void 
      setInputTarget (const PointCloudConstPtr &target, const std::vector<int> &indices_tgt)
      {
        target_ = target;
        indices_tgt_ = boost::make_shared <std::vector<int> > (indices_tgt);
      }

      void 
      getSamples (int &iterations, 
                  std::vector<int> &samples);

      bool 
      computeModelCoefficients (const std::vector<int> &samples, 
                                Eigen::VectorXf &model_coefficients);

      void 
      getDistancesToModel (const Eigen::VectorXf &model_coefficients, 
                           std::vector<double> &distances);

      void 
      selectWithinDistance (const Eigen::VectorXf &model_coefficients, 
                            double threshold, std::vector<int> &inliers);

      void 
      optimizeModelCoefficients (const std::vector<int> &inliers, 
                                 const Eigen::VectorXf &model_coefficients, 
                                 Eigen::VectorXf &optimized_coefficients);

      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, double threshold)
      {
        ROS_ERROR ("[pcl::SampleConsensusModelRegistration::doSamplesVerifyModel] called!");
        return (false);
      }

      inline pcl::SacModel getModelType() const { return (SACMODEL_REGISTRATION); }

    protected:
      inline bool 
      isModelValid (const Eigen::VectorXf &model_coefficients)
      {
        // Needs a valid model coefficients
        if (model_coefficients.size () != 16)
          return (false);

        return (true);
      }

    private:
      PointCloudConstPtr target_;

      IndicesPtr indices_tgt_;

      double sample_dist_thresh_;

      const static int MAX_ITERATIONS_COLLINEAR = 1000;
  };
}

#endif  //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_REGISTRATION_H_

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pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013