pcl::registration::CorrespondenceRejectorSampleConsensus< PointT > Class Template Reference

#include <correspondence_rejection_sample_consensuns.h>

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

Public Member Functions
	CorrespondenceRejectorSampleConsensus ()
Eigen::Matrix4f	getBestTransformation ()
void	getCorrespondences (const pcl::registration::Correspondences &original_correspondences, pcl::registration::Correspondences &remaining_correspondences)
	Get a pointer to the vector of the input correspondences.
double	getInlierThreshold ()
int	getMaxIterations ()
void	setInlierThreshold (double threshold)
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
void	setMaxIterations (int max_iterations)
virtual void	setTargetCloud (const PointCloudConstPtr &cloud)
Protected Member Functions
void	applyRejection (pcl::registration::Correspondences &correspondences)
	Abstract rejection method.
Protected Attributes
Eigen::Matrix4f	best_transformation_
double	inlier_threshold_
PointCloudConstPtr	input_
int	max_iterations_
PointCloudConstPtr	target_
Private Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr

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 51 of file correspondence_rejection_sample_consensuns.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PointCloud [private]

Definition at line 48 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PointCloudConstPtr [private]

Definition at line 50 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PointCloudPtr [private]

Definition at line 49 of file correspondence_rejection_sample_consensuns.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::CorrespondenceRejectorSampleConsensus ( ) [inline]

Definition at line 53 of file correspondence_rejection_sample_consensuns.h.

Member Function Documentation

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::applyRejection ( pcl::registration::Correspondences & correspondences ) [inline, protected, virtual]

Abstract rejection method.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 40 of file correspondence_rejection_sample_consensus.hpp.

template<typename PointT>

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

Definition at line 70 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getCorrespondences	(	const pcl::registration::Correspondences &	original_correspondences,
		pcl::registration::Correspondences &	remaining_correspondences
	)			`[inline, virtual]`

Get a pointer to the vector of the input correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 95 of file correspondence_rejection_sample_consensus.hpp.

template<typename PointT>

double pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInlierThreshold ( ) [inline]

Definition at line 65 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT>

int pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getMaxIterations ( ) [inline]

Definition at line 68 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT>

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

Definition at line 64 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT>

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

Definition at line 61 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT>

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

Definition at line 67 of file correspondence_rejection_sample_consensuns.h.

template<typename PointT>

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