Point Cloud Library (PCL)
1.10.1
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41 #include <pcl/sample_consensus/sac_model_registration.h>
50 template <
typename Po
intT>
79 , projection_matrix_ (
Eigen::Matrix3f::Identity ())
94 const std::vector<int> &indices,
97 , projection_matrix_ (
Eigen::Matrix3f::Identity ())
101 model_name_ =
"SampleConsensusModelRegistration2D";
115 std::vector<double> &distances)
const;
124 const double threshold,
125 std::vector<int> &inliers);
135 const double threshold)
const;
142 { projection_matrix_ = projection_matrix; }
145 inline Eigen::Matrix3f
147 {
return (projection_matrix_); }
192 const std::vector<int>&)
216 Eigen::Matrix3f projection_matrix_;
223 #include <pcl/sample_consensus/impl/sac_model_registration_2d.hpp>
Defines all the PCL and non-PCL macros used.
This file defines compatibility wrappers for low level I/O functions.
SampleConsensusModelRegistration2D defines a model for Point-To-Point registration outlier rejection ...
virtual std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const
Count all the points which respect the given model coefficients as inliers.
void setInputCloud(const PointCloudConstPtr &cloud) override
Provide a pointer to the input dataset.
Eigen::Matrix3f getProjectionMatrix() const
Get the camera projection matrix.
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const
Compute all distances from the transformed points to their correspondences.
unsigned int sample_size_
The size of a sample from which the model is computed.
unsigned int model_size_
The number of coefficients in the model.
PointCloud represents the base class in PCL for storing collections of 3D points.
A point structure representing Euclidean xyz coordinates, and the RGB color.
SampleConsensusModelRegistration2D(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelRegistration2D.
bool isSampleGood(const std::vector< int > &samples) const
Check if a sample of indices results in a good sample of points indices.
shared_ptr< const SampleConsensusModel< PointT > > ConstPtr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
void computeOriginalIndexMapping()
Compute mappings between original indices of the input_/target_ clouds.
shared_ptr< SampleConsensusModel< PointT > > Ptr
std::string model_name_
The model name.
typename PointCloud::ConstPtr PointCloudConstPtr
virtual ~SampleConsensusModelRegistration2D()
Empty destructor.
SampleConsensusModelRegistration2D(const PointCloudConstPtr &cloud, const std::vector< int > &indices, bool random=false)
Constructor for base SampleConsensusModelRegistration2D.
void setProjectionMatrix(const Eigen::Matrix3f &projection_matrix)
Set the camera projection matrix.
void computeSampleDistanceThreshold(const PointCloudConstPtr &, const std::vector< int > &)
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.
typename PointCloud::Ptr PointCloudPtr
SampleConsensusModel represents the base model class.
SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.
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.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
void computeSampleDistanceThreshold(const PointCloudConstPtr &)
Computes an "optimal" sample distance threshold based on the principal directions of the input cloud.