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

#include <pcl/sample_consensus/sac_model_registration.h>

Public Types
using	PointCloud = typename SampleConsensusModel< PointT >::PointCloud

using	PointCloudPtr = typename SampleConsensusModel< PointT >::PointCloudPtr

using	PointCloudConstPtr = typename SampleConsensusModel< PointT >::PointCloudConstPtr

using	Ptr = shared_ptr< SampleConsensusModelRegistration< PointT > >

using	ConstPtr = shared_ptr< const SampleConsensusModelRegistration< PointT > >

Public Types inherited from pcl::SampleConsensusModel< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointCloudPtr = typename PointCloud::Ptr

using	SearchPtr = typename pcl::search::Search< PointT >::Ptr

using	Ptr = shared_ptr< SampleConsensusModel< PointT > >

using	ConstPtr = shared_ptr< const SampleConsensusModel< PointT > >

Public Member Functions
	SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModelRegistration. More...

	SampleConsensusModelRegistration (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
	Constructor for base SampleConsensusModelRegistration. More...

	~SampleConsensusModelRegistration ()
	Empty destructor. More...

void	setInputCloud (const PointCloudConstPtr &cloud) override
	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 Indices &indices_tgt)
	Set the input point cloud target. More...

bool	computeModelCoefficients (const Indices &samples, Eigen::VectorXf &model_coefficients) const override
	Compute a 4x4 rigid transformation matrix from the samples given. More...

void	getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
	Compute all distances from the transformed points to their correspondences. More...

void	selectWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
	Select all the points which respect the given model coefficients as inliers. More...

std::size_t	countWithinDistance (const Eigen::VectorXf &model_coefficients, const double threshold) const override
	Count all the points which respect the given model coefficients as inliers. More...

void	optimizeModelCoefficients (const Indices &inliers, const Eigen::VectorXf &model_coefficients, Eigen::VectorXf &optimized_coefficients) const override
	Recompute the 4x4 transformation using the given inlier set. More...

void	projectPoints (const Indices &, const Eigen::VectorXf &, PointCloud &, bool=true) const override
	Create a new point cloud with inliers projected onto the model. More...

bool	doSamplesVerifyModel (const std::set< index_t > &, const Eigen::VectorXf &, const double) const override
	Verify whether a subset of indices verifies a given set of model coefficients. More...

pcl::SacModel	getModelType () const override
	Return a unique id for this model (SACMODEL_REGISTRATION). More...

Public Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (const PointCloudConstPtr &cloud, bool random=false)
	Constructor for base SampleConsensusModel. More...

	SampleConsensusModel (const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
	Constructor for base SampleConsensusModel. More...

virtual	~SampleConsensusModel ()
	Destructor for base SampleConsensusModel. More...

virtual void	getSamples (int &iterations, Indices &samples)
	Get a set of random data samples and return them as point indices. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const Indices &indices)
	Provide the vector of indices that represents the input data. More...

IndicesPtr	getIndices () const
	Get a pointer to the vector of indices used. More...

const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

unsigned int	getSampleSize () const
	Return the size of a sample from which the model is computed. More...

unsigned int	getModelSize () const
	Return the number of coefficients in the model. 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) const
	Get the minimum and maximum allowable radius limits for the model as set by the user. More...

void	setModelConstraints (std::function< bool(const Eigen::VectorXf &)> function)
	This can be used to impose any kind of constraint on the model, e.g. More...

void	setSamplesMaxDist (const double &radius, SearchPtr search)
	Set the maximum distance allowed when drawing random samples. More...

void	getSamplesMaxDist (double &radius) const
	Get maximum distance allowed when drawing random samples. More...

double	computeVariance (const std::vector< double > &error_sqr_dists) const
	Compute the variance of the errors to the model. More...

double	computeVariance () const
	Compute the variance of the errors to the model from the internally estimated vector of distances. More...

Protected Member Functions
bool	isSampleGood (const Indices &samples) const override
	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 Indices &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 Indices &indices_src, const pcl::PointCloud< PointT > &cloud_tgt, const Indices &indices_tgt, Eigen::VectorXf &transform) const
	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...

Protected Member Functions inherited from pcl::SampleConsensusModel< PointT >
	SampleConsensusModel (bool random=false)
	Empty constructor for base SampleConsensusModel. More...

void	drawIndexSample (Indices &sample)
	Fills a sample array with random samples from the indices_ vector. More...

void	drawIndexSampleRadius (Indices &sample)
	Fills a sample array with one random sample from the indices_ vector and other random samples that are closer than samples_radius_. More...

virtual bool	isModelValid (const Eigen::VectorXf &model_coefficients) const
	Check whether a model is valid given the user constraints. More...

int	rnd ()
	Boost-based random number generator. More...

Protected Attributes
PointCloudConstPtr	target_
	A boost shared pointer to the target point cloud data array. More...

IndicesPtr	indices_tgt_
	A pointer to the vector of target point indices to use. More...

std::map< index_t, index_t >	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...

Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
std::string	model_name_
	The model name. More...

PointCloudConstPtr	input_
	A boost shared pointer to the point cloud data array. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

double	radius_min_
	The minimum and maximum radius limits for the model. More...

double	radius_max_

double	samples_radius_
	The maximum distance of subsequent samples from the first (radius search) More...

SearchPtr	samples_radius_search_
	The search object for picking subsequent samples using radius search. More...

Indices	shuffled_indices_
	Data containing a shuffled version of the indices. More...

boost::mt19937	rng_alg_
	Boost-based random number generator algorithm. More...

std::shared_ptr< boost::uniform_int<> >	rng_dist_
	Boost-based random number generator distribution. More...

std::shared_ptr< boost::variate_generator< boost::mt19937 &, boost::uniform_int<> > >	rng_gen_
	Boost-based random number generator. More...

std::vector< double >	error_sqr_dists_
	A vector holding the distances to the computed model. More...

unsigned int	sample_size_
	The size of a sample from which the model is computed. More...

unsigned int	model_size_
	The number of coefficients in the model. More...

std::function< bool(const Eigen::VectorXf &)>	custom_model_constraints_
	A user defined function that takes model coefficients and returns whether the model is acceptable or not. More...

Additional Inherited Members
Static Protected Attributes inherited from pcl::SampleConsensusModel< PointT >
static const unsigned int	max_sample_checks_ = 1000
	The maximum number of samples to try until we get a good one. More...

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 60 of file sac_model_registration.h.

Member Typedef Documentation

ConstPtr

template<typename PointT >

using pcl::SampleConsensusModelRegistration< PointT >::ConstPtr = shared_ptr<const SampleConsensusModelRegistration<PointT> >

Definition at line 74 of file sac_model_registration.h.

PointCloud

template<typename PointT >

using pcl::SampleConsensusModelRegistration< PointT >::PointCloud = typename SampleConsensusModel<PointT>::PointCloud

Definition at line 69 of file sac_model_registration.h.

PointCloudConstPtr

template<typename PointT >

using pcl::SampleConsensusModelRegistration< PointT >::PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr

Definition at line 71 of file sac_model_registration.h.

PointCloudPtr

template<typename PointT >

using pcl::SampleConsensusModelRegistration< PointT >::PointCloudPtr = typename SampleConsensusModel<PointT>::PointCloudPtr

Definition at line 70 of file sac_model_registration.h.

Ptr

template<typename PointT >

using pcl::SampleConsensusModelRegistration< PointT >::Ptr = shared_ptr<SampleConsensusModelRegistration<PointT> >

Definition at line 73 of file sac_model_registration.h.

Constructor & Destructor Documentation

SampleConsensusModelRegistration() [1/2]

template<typename PointT >

pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration	(	const PointCloudConstPtr &	cloud,
		bool	random = `false`
	)

inline

Constructor for base SampleConsensusModelRegistration.

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 80 of file sac_model_registration.h.

References pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, pcl::SampleConsensusModel< PointT >::sample_size_, and pcl::SampleConsensusModelRegistration< PointT >::setInputCloud().

SampleConsensusModelRegistration() [2/2]

template<typename PointT >

pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration	(	const PointCloudConstPtr &	cloud,
		const Indices &	indices,
		bool	random = `false`
	)

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
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 98 of file sac_model_registration.h.

References pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping(), pcl::SampleConsensusModelRegistration< PointT >::computeSampleDistanceThreshold(), pcl::SampleConsensusModel< PointT >::model_name_, pcl::SampleConsensusModel< PointT >::model_size_, and pcl::SampleConsensusModel< PointT >::sample_size_.

~SampleConsensusModelRegistration()

template<typename PointT >

pcl::SampleConsensusModelRegistration< PointT >::~SampleConsensusModelRegistration ( )

inline

Empty destructor.

Definition at line 113 of file sac_model_registration.h.

Member Function Documentation

computeModelCoefficients()

template<typename PointT >

bool pcl::SampleConsensusModelRegistration< PointT >::computeModelCoefficients	(	const Indices &	samples,
		Eigen::VectorXf &	model_coefficients
	)		const

overridevirtual

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 69 of file sac_model_registration.hpp.

computeOriginalIndexMapping()

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping ( )

inlineprotected

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

Definition at line 311 of file sac_model_registration.h.

References pcl::SampleConsensusModelRegistration< PointT >::correspondences_, pcl::SampleConsensusModel< PointT >::indices_, and pcl::SampleConsensusModelRegistration< PointT >::indices_tgt_.

Referenced by pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration(), pcl::SampleConsensusModelRegistration2D< PointT >::SampleConsensusModelRegistration2D(), pcl::SampleConsensusModelRegistration< PointT >::setInputCloud(), and pcl::SampleConsensusModelRegistration< PointT >::setInputTarget().

computeSampleDistanceThreshold() [1/2]

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::computeSampleDistanceThreshold ( const PointCloudConstPtr & cloud )

inlineprotected

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 233 of file sac_model_registration.h.

References pcl::computeMeanAndCovarianceMatrix(), pcl::eigen33(), and pcl::SampleConsensusModelRegistration< PointT >::sample_dist_thresh_.

Referenced by pcl::SampleConsensusModelRegistration< PointT >::SampleConsensusModelRegistration(), and pcl::SampleConsensusModelRegistration< PointT >::setInputCloud().

computeSampleDistanceThreshold() [2/2]

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::computeSampleDistanceThreshold	(	const PointCloudConstPtr &	cloud,
		const Indices &	indices
	)

inlineprotected

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
	indices

Definition at line 265 of file sac_model_registration.h.

References pcl::computeMeanAndCovarianceMatrix(), pcl::eigen33(), and pcl::SampleConsensusModelRegistration< PointT >::sample_dist_thresh_.

countWithinDistance()

template<typename PointT >

std::size_t pcl::SampleConsensusModelRegistration< PointT >::countWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		const

overridevirtual

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 >.

Reimplemented in pcl::SampleConsensusModelRegistration2D< PointT >.

Definition at line 204 of file sac_model_registration.hpp.

doSamplesVerifyModel()

template<typename PointT >

bool pcl::SampleConsensusModelRegistration< PointT >::doSamplesVerifyModel	(	const std::set< index_t > &	indices,
		const Eigen::VectorXf &	model_coefficients,
		const double	threshold
	)		const

inlineoverridevirtual

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 206 of file sac_model_registration.h.

estimateRigidTransformationSVD()

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::estimateRigidTransformationSVD	(	const pcl::PointCloud< PointT > &	cloud_src,
		const Indices &	indices_src,
		const pcl::PointCloud< PointT > &	cloud_tgt,
		const Indices &	indices_tgt,
		Eigen::VectorXf &	transform
	)		const

protected

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 289 of file sac_model_registration.hpp.

References pcl::umeyama().

getDistancesToModel()

template<typename PointT >

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

overridevirtual

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 >.

Reimplemented in pcl::SampleConsensusModelRegistration2D< PointT >.

Definition at line 101 of file sac_model_registration.hpp.

getModelType()

template<typename PointT >

pcl::SacModel pcl::SampleConsensusModelRegistration< PointT >::getModelType ( ) const

inlineoverridevirtual

Return a unique id for this model (SACMODEL_REGISTRATION).

Implements pcl::SampleConsensusModel< PointT >.

Definition at line 215 of file sac_model_registration.h.

References pcl::SACMODEL_REGISTRATION.

isSampleGood()

template<typename PointT >

bool pcl::SampleConsensusModelRegistration< PointT >::isSampleGood ( const Indices & samples ) const

overrideprotectedvirtual

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 >.

Reimplemented in pcl::SampleConsensusModelRegistration2D< PointT >.

Definition at line 48 of file sac_model_registration.hpp.

optimizeModelCoefficients()

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::optimizeModelCoefficients	(	const Indices &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		Eigen::VectorXf &	optimized_coefficients
	)		const

overridevirtual

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 252 of file sac_model_registration.hpp.

projectPoints()

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::projectPoints	(	const Indices &	inliers,
		const Eigen::VectorXf &	model_coefficients,
		PointCloud &	projected_points,
		bool	copy_data_fields = `true`
	)		const

inlineoverridevirtual

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 199 of file sac_model_registration.h.

selectWithinDistance()

template<typename PointT >

void pcl::SampleConsensusModelRegistration< PointT >::selectWithinDistance	(	const Eigen::VectorXf &	model_coefficients,
		const double	threshold,
		Indices &	inliers
	)

overridevirtual

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