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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

Definition at line 69 of file sac_model_registration.h.

PointCloudConstPtr

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()

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()

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

Implements pcl::SampleConsensusModel< PointT >.

Reimplemented in pcl::SampleConsensusModelRegistration2D< PointT >.

Definition at line 147 of file sac_model_registration.hpp.

References pcl::geometry::distance().

setInputCloud()

setInputTarget() [1/2]

setInputTarget() [2/2]

template<typename PointT >
void pcl::SampleConsensusModelRegistration< PointT >::setInputTarget ( const PointCloudConstPtr & target,
const Indices & indices_tgt
)
inline

Set the input point cloud target.

Parameters
[in] target the input point cloud target
[in] indices_tgt a vector of point indices to be used from target

Definition at line 145 of file sac_model_registration.h.

References pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping(), pcl::SampleConsensusModelRegistration< PointT >::indices_tgt_, and pcl::SampleConsensusModelRegistration< PointT >::target_.

Member Data Documentation

correspondences_

template<typename PointT >
std::map<index_t, index_t> pcl::SampleConsensusModelRegistration< PointT >::correspondences_
protected

Given the index in the original point cloud, give the matching original index in the target cloud.

Definition at line 346 of file sac_model_registration.h.

Referenced by pcl::SampleConsensusModelRegistration< PointT >::computeOriginalIndexMapping().

indices_tgt_

template<typename PointT >
IndicesPtr pcl::SampleConsensusModelRegistration< PointT >::indices_tgt_
protected

sample_dist_thresh_

template<typename PointT >
double pcl::SampleConsensusModelRegistration< PointT >::sample_dist_thresh_
protected

Internal distance threshold used for the sample selection step.

Definition at line 349 of file sac_model_registration.h.

Referenced by pcl::SampleConsensusModelRegistration< PointT >::computeSampleDistanceThreshold().

target_

template<typename PointT >
PointCloudConstPtr pcl::SampleConsensusModelRegistration< PointT >::target_
protected

A boost shared pointer to the target point cloud data array.

Definition at line 340 of file sac_model_registration.h.

Referenced by pcl::SampleConsensusModelRegistration< PointT >::setInputTarget().


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_sample_consensus_model_registration.html