Point Cloud Library (PCL)
1.7.0
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SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels. More...
#include <pcl/sample_consensus/sac_model_registration_2d.h>
Public Member Functions | |
SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, bool random=false) | |
Constructor for base SampleConsensusModelRegistration2D. More... | |
SampleConsensusModelRegistration2D (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false) | |
Constructor for base SampleConsensusModelRegistration2D. More... | |
virtual | ~SampleConsensusModelRegistration2D () |
Empty destructor. More... | |
void | getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) |
Compute all distances from the transformed points to their correspondences. More... | |
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. More... | |
virtual int | countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) |
Count all the points which respect the given model coefficients as inliers. More... | |
void | setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) |
Set the camera projection matrix. More... | |
Eigen::Matrix3f | getProjectionMatrix () const |
Get the camera projection matrix. More... | |
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SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, bool random=false) | |
Constructor for base SampleConsensusModelRegistration. More... | |
SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false) | |
Constructor for base SampleConsensusModelRegistration. More... | |
virtual | ~SampleConsensusModelRegistration () |
Empty destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
void | setInputTarget (const PointCloudConstPtr &target) |
Set the input point cloud target. More... | |
void | setInputTarget (const PointCloudConstPtr &target, const std::vector< int > &indices_tgt) |
Set the input point cloud target. More... | |
bool | computeModelCoefficients (const std::vector< int > &samples, Eigen::VectorXf &model_coefficients) |
Compute a 4x4 rigid transformation matrix from the samples given. More... | |
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. More... | |
void | projectPoints (const std::vector< int > &, const Eigen::VectorXf &, PointCloud &, bool=true) |
Create a new point cloud with inliers projected onto the model. More... | |
bool | doSamplesVerifyModel (const std::set< int > &, const Eigen::VectorXf &, const double) |
Verify whether a subset of indices verifies a given set of model coefficients. More... | |
pcl::SacModel | getModelType () const |
Return an unique id for this model (SACMODEL_REGISTRATION). More... | |
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SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false) | |
Constructor for base SampleConsensusModel. More... | |
SampleConsensusModel (const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false) | |
Constructor for base SampleConsensusModel. More... | |
virtual | ~SampleConsensusModel () |
Destructor for base SampleConsensusModel. More... | |
virtual void | getSamples (int &iterations, std::vector< int > &samples) |
Get a set of random data samples and return them as point indices. More... | |
PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
void | setIndices (const boost::shared_ptr< std::vector< int > > &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
void | setIndices (const std::vector< int > &indices) |
Provide the vector of indices that represents the input data. More... | |
boost::shared_ptr< std::vector < int > > | getIndices () const |
Get a pointer to the vector of indices used. More... | |
unsigned int | getSampleSize () const |
Return the size of a sample from which a model is computed. More... | |
void | setRadiusLimits (const double &min_radius, const double &max_radius) |
Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate a radius) More... | |
void | getRadiusLimits (double &min_radius, double &max_radius) |
Get the minimum and maximum allowable radius limits for the model as set by the user. More... | |
void | setSamplesMaxDist (const double &radius, SearchPtr search) |
Set the maximum distance allowed when drawing random samples. More... | |
void | getSamplesMaxDist (double &radius) |
Get maximum distance allowed when drawing random samples. More... | |
double | computeVariance (const std::vector< double > &error_sqr_dists) |
Compute the variance of the errors to the model. More... | |
double | computeVariance () |
Compute the variance of the errors to the model from the internally estimated vector of distances. More... | |
Protected Member Functions | |
bool | isSampleGood (const std::vector< int > &samples) const |
Check if a sample of indices results in a good sample of points indices. More... | |
void | computeSampleDistanceThreshold (const PointCloudConstPtr &cloud) |
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More... | |
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. More... | |
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bool | isModelValid (const Eigen::VectorXf &model_coefficients) |
Check whether a model is valid given the user constraints. More... | |
void | computeSampleDistanceThreshold (const PointCloudConstPtr &cloud) |
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud. More... | |
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. More... | |
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. More... | |
void | computeOriginalIndexMapping () |
Compute mappings between original indices of the input_/target_ clouds. More... | |
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SampleConsensusModel (bool random=false) | |
Empty constructor for base SampleConsensusModel. More... | |
void | drawIndexSample (std::vector< int > &sample) |
Fills a sample array with random samples from the indices_ vector. More... | |
void | drawIndexSampleRadius (std::vector< int > &sample) |
Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More... | |
int | rnd () |
Boost-based random number generator. More... | |
Additional Inherited Members | |
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PointCloudConstPtr | target_ |
A boost shared pointer to the target point cloud data array. More... | |
boost::shared_ptr< std::vector < int > > | indices_tgt_ |
A pointer to the vector of target point indices to use. More... | |
std::map< int, int > | correspondences_ |
Given the index in the original point cloud, give the matching original index in the target cloud. More... | |
double | sample_dist_thresh_ |
Internal distance threshold used for the sample selection step. More... | |
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static const unsigned int | max_sample_checks_ = 1000 |
The maximum number of samples to try until we get a good one. More... | |
SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection using distances between 2D pixels.
Definition at line 51 of file sac_model_registration_2d.h.
typedef boost::shared_ptr<const SampleConsensusModelRegistration2D> pcl::SampleConsensusModelRegistration2D< PointT >::ConstPtr |
Definition at line 68 of file sac_model_registration_2d.h.
typedef pcl::SampleConsensusModel<PointT>::PointCloud pcl::SampleConsensusModelRegistration2D< PointT >::PointCloud |
Definition at line 63 of file sac_model_registration_2d.h.
typedef pcl::SampleConsensusModel<PointT>::PointCloudConstPtr pcl::SampleConsensusModelRegistration2D< PointT >::PointCloudConstPtr |
Definition at line 65 of file sac_model_registration_2d.h.
typedef pcl::SampleConsensusModel<PointT>::PointCloudPtr pcl::SampleConsensusModelRegistration2D< PointT >::PointCloudPtr |
Definition at line 64 of file sac_model_registration_2d.h.
typedef boost::shared_ptr<SampleConsensusModelRegistration2D> pcl::SampleConsensusModelRegistration2D< PointT >::Ptr |
Definition at line 67 of file sac_model_registration_2d.h.
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inline |
Constructor for base SampleConsensusModelRegistration2D.
[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.
References pcl::SampleConsensusModelRegistration< PointT >::setInputCloud().
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inline |
Constructor for base SampleConsensusModelRegistration2D.
[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.
References pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping(), and pcl::SampleConsensusModelRegistration2D< PointT >::computeSampleDistanceThreshold().
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inlinevirtual |
Empty destructor.
Definition at line 99 of file sac_model_registration_2d.h.
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inlineprotected |
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 154 of file sac_model_registration_2d.h.
Referenced by pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D().
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inlineprotected |
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 182 of file sac_model_registration_2d.h.
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virtual |
Count all the points which respect the given model coefficients as inliers.
[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 |
Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.
Definition at line 184 of file sac_model_registration_2d.hpp.
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virtual |
Compute all distances from the transformed points to their correspondences.
[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.
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inline |
Get the camera projection matrix.
Definition at line 138 of file sac_model_registration_2d.h.
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protectedvirtual |
Check if a sample of indices results in a good sample of points indices.
[in] | samples | the resultant index samples |
Reimplemented from pcl::SampleConsensusModelRegistration< PointT >.
Definition at line 47 of file sac_model_registration_2d.hpp.
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virtual |
Select all the points which respect the given model coefficients as inliers.
[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.
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inline |
Set the camera projection matrix.
[in] | projection_matrix | the camera projection matrix |
Definition at line 133 of file sac_model_registration_2d.h.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences().