CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...

#include <pcl/registration/correspondence_rejection_sample_consensus.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >:

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Collaboration diagram for pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >:

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Public Member Functions
	CorrespondenceRejectorSampleConsensus ()
	Empty constructor. More...

virtual	~CorrespondenceRejectorSampleConsensus ()
	Empty destructor. More...

void	getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
	Get a list of valid correspondences after rejection from the original set of correspondences. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!) More...

virtual void	setTargetCloud (const PointCloudConstPtr &cloud)
	Provide a target point cloud dataset (must contain XYZ data!) More...

void	setInlierThreshold (double threshold)
	Set the maximum distance between corresponding points. More...

double	getInlierThreshold ()
	Get the maximum distance between corresponding points. More...

void	setMaxIterations (int max_iterations)
	Set the maximum number of iterations. More...

int	getMaxIterations ()
	Get the maximum number of iterations. More...

Eigen::Matrix4f	getBestTransformation ()
	Get the best transformation after RANSAC rejection. More...

virtual void	setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
	Provide a pointer to the vector of the input correspondences. More...

CorrespondencesConstPtr	getInputCorrespondences ()
	Get a pointer to the vector of the input correspondences. More...

void	getCorrespondences (pcl::Correspondences &correspondences)
	Run correspondence rejection. More...

void	getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector. More...

Detailed Description

template<typename PointT>
class pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >

CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers)

Author: Dirk Holz

Definition at line 56 of file correspondence_rejection_sample_consensus.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::CorrespondenceRejectorSampleConsensus ( )

inline

Empty constructor.

Definition at line 69 of file correspondence_rejection_sample_consensus.h.

template<typename PointT >

virtual pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::~CorrespondenceRejectorSampleConsensus ( )

inlinevirtual

Empty destructor.

Definition at line 80 of file correspondence_rejection_sample_consensus.h.

Member Function Documentation

template<typename PointT >

Eigen::Matrix4f pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getBestTransformation ( )

inline

Get the best transformation after RANSAC rejection.

Returns: The homogeneous 4x4 transformation yielding the largest number of inliers.

Definition at line 131 of file correspondence_rejection_sample_consensus.h.

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences & correspondences)

inlineinherited

Run correspondence rejection.

Parameters

[out] correspondences Vector of correspondences that have not been rejected.

Definition at line 84 of file correspondence_rejection.h.

template<typename PointT >

double pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInlierThreshold ( )

inline

Get the maximum distance between corresponding points.

Returns: Distance threshold in the same dimension as source and target data sets.

Definition at line 113 of file correspondence_rejection_sample_consensus.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( )

inlineinherited

Get a pointer to the vector of the input correspondences.

Returns: correspondences the const boost shared pointer to a correspondence vector

Definition at line 78 of file correspondence_rejection.h.

template<typename PointT >

int pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getMaxIterations ( )

inline

Get the maximum number of iterations.

Returns: max_iterations Maximum number if iterations to run

Definition at line 125 of file correspondence_rejection_sample_consensus.h.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices	(	const pcl::Correspondences &	correspondences,
		std::vector< int > &	indices
	)

inlineinherited

Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector.

Parameters

[in]	correspondences	Vector of correspondences after rejection
[out]	indices	Vector of query point indices of those correspondences that have been rejected.

Definition at line 112 of file correspondence_rejection.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)

inlinevirtual

Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters

[in]	original_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 45 of file correspondence_rejection_sample_consensus.hpp.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInlierThreshold ( double threshold)

inline

Set the maximum distance between corresponding points.

Correspondences with distances below the threshold are considered as inliers.

Parameters

[in] threshold Distance threshold in the same dimension as source and target data sets.

Definition at line 107 of file correspondence_rejection_sample_consensus.h.

template<typename PointT >

virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtual

Provide a source point cloud dataset (must contain XYZ data!)

Parameters

[in] cloud a cloud containing XYZ data

Definition at line 94 of file correspondence_rejection_sample_consensus.h.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr & correspondences)

inlinevirtualinherited

Provide a pointer to the vector of the input correspondences.

Parameters

[in] correspondences the const boost shared pointer to a correspondence vector

Definition at line 69 of file correspondence_rejection.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setMaxIterations ( int max_iterations)

inline

Set the maximum number of iterations.

Parameters

[in] max_iterations Maximum number if iterations to run

Definition at line 119 of file correspondence_rejection_sample_consensus.h.

template<typename PointT >

virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setTargetCloud ( const PointCloudConstPtr & cloud)

inlinevirtual

Provide a target point cloud dataset (must contain XYZ data!)

Parameters

[in] cloud a cloud containing XYZ data

Definition at line 100 of file correspondence_rejection_sample_consensus.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_rejection_sample_consensus.h
/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_rejection_sample_consensus.hpp

Public Member Functions

Detailed Description

template<typename PointT> class pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >