43 #include <pcl/memory.h>
44 #include <pcl/pcl_macros.h>
45 #include <pcl/pcl_base.h>
46 #include <pcl/sample_consensus/eigen.h>
47 #include <pcl/sample_consensus/sac_model.h>
48 #include <pcl/sample_consensus/model_types.h>
49 #include <pcl/common/eigen.h>
50 #include <pcl/common/centroid.h>
59 template <
typename Po
intT>
73 using Ptr = shared_ptr<SampleConsensusModelRegistration<PointT> >;
74 using ConstPtr = shared_ptr<const SampleConsensusModelRegistration<PointT>>;
99 const Indices &indices,
135 int target_size =
static_cast<int> (target->size ());
138 for (
int i = 0; i < target_size; ++i)
161 Eigen::VectorXf &model_coefficients)
const override;
169 std::vector<double> &distances)
const override;
178 const double threshold,
179 Indices &inliers)
override;
189 const double threshold)
const override;
198 const Eigen::VectorXf &model_coefficients,
199 Eigen::VectorXf &optimized_coefficients)
const override;
203 const Eigen::VectorXf &,
210 const Eigen::VectorXf &,
211 const double)
const override
239 Eigen::Vector4f xyz_centroid;
240 Eigen::Matrix3f covariance_matrix = Eigen::Matrix3f::Zero ();
245 for (
int i = 0; i < 3; ++i)
246 for (
int j = 0; j < 3; ++j)
247 if (!std::isfinite (covariance_matrix.coeffRef (i, j)))
248 PCL_ERROR (
"[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n");
250 Eigen::Vector3f eigen_values;
256 PCL_DEBUG (
"[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n",
sample_dist_thresh_);
266 const Indices &indices)
269 Eigen::Vector4f xyz_centroid;
270 Eigen::Matrix3f covariance_matrix;
274 for (
int i = 0; i < 3; ++i)
275 for (
int j = 0; j < 3; ++j)
276 if (!std::isfinite (covariance_matrix.coeffRef (i, j)))
277 PCL_ERROR (
"[pcl::SampleConsensusModelRegistration::computeSampleDistanceThreshold] Covariance matrix has NaN values! Is the input cloud finite?\n");
279 Eigen::Vector3f eigen_values;
285 PCL_DEBUG (
"[pcl::SampleConsensusModelRegistration::setInputCloud] Estimated a sample selection distance threshold of: %f\n",
sample_dist_thresh_);
301 const Indices &indices_src,
303 const Indices &indices_tgt,
304 Eigen::VectorXf &transform)
const;
312 for (std::size_t i = 0; i <
indices_->size (); ++i)
332 #include <pcl/sample_consensus/impl/sac_model_registration.hpp>
PointCloudConstPtr target_
A boost shared pointer to the target point cloud data array.
std::map< int, int > correspondences_
Given the index in the original point cloud, give the matching original index in the target cloud...
SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection...
void setInputCloud(const PointCloudConstPtr &cloud) override
Provide a pointer to the input dataset.
unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud< PointT > &cloud, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix, Eigen::Matrix< Scalar, 4, 1 > ¢roid)
Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...
shared_ptr< Indices > IndicesPtr
bool computeModelCoefficients(const Indices &samples, Eigen::VectorXf &model_coefficients) const override
Compute a 4x4 rigid transformation matrix from the samples given.
unsigned int model_size_
The number of coefficients in the model.
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
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.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
SampleConsensusModelRegistration(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelRegistration.
typename PointCloud::Ptr PointCloudPtr
void setInputTarget(const PointCloudConstPtr &target, const Indices &indices_tgt)
Set the input point cloud target.
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_REGISTRATION).
SampleConsensusModel represents the base model class.
~SampleConsensusModelRegistration()
Empty destructor.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
std::string model_name_
The model name.
void projectPoints(const Indices &, const Eigen::VectorXf &, PointCloud &, bool=true) const override
Create a new point cloud with inliers projected onto the model.
typename PointCloud::ConstPtr PointCloudConstPtr
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 so...
void computeOriginalIndexMapping()
Compute mappings between original indices of the input_/target_ clouds.
void eigen33(const Matrix &mat, typename Matrix::Scalar &eigenvalue, Vector &eigenvector)
determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all distances from the transformed points to their correspondences.
bool isSampleGood(const Indices &samples) const override
Check if a sample of indices results in a good sample of points indices.
IndicesPtr indices_tgt_
A pointer to the vector of target point indices to use.
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.
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.
IndicesPtr indices_
A pointer to the vector of point indices to use.
void computeSampleDistanceThreshold(const PointCloudConstPtr &cloud, const Indices &indices)
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud...
void setInputTarget(const PointCloudConstPtr &target)
Set the input point cloud target.
void computeSampleDistanceThreshold(const PointCloudConstPtr &cloud)
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud...
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< PointT > > Ptr
SampleConsensusModelRegistration(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelRegistration.
unsigned int sample_size_
The size of a sample from which the model is computed.
double sample_dist_thresh_
Internal distance threshold used for the sample selection step.
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.