Public Member Functions
RansacTransformation Class Reference

#include <ransac_transformation.h>

List of all members.

Public Member Functions

void computeInliersAndError (const std::vector< cv::DMatch > &matches, const Eigen::Matrix4f &transformation, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &origins, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &earlier, std::vector< cv::DMatch > &inliers, double &mean_error, std::vector< double > &errors, double squaredMaxInlierDistInM)
bool getRelativeTransformationTo (const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &source_feature_locations_3d, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &target_feature_locations_3d, std::vector< cv::DMatch > *initial_matches, Eigen::Matrix4f &resulting_transformation, float &rmse, std::vector< cv::DMatch > &matches, uint min_matches)
template<class InputIterator >
Eigen::Matrix4f getTransformFromMatches (const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &source_feature_locations_3d, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &target_feature_locations_3d, InputIterator iter_begin, InputIterator iter_end, bool &valid, float max_dist_m)
 RansacTransformation ()
virtual ~RansacTransformation ()

Detailed Description

Definition at line 16 of file ransac_transformation.h.


Constructor & Destructor Documentation

Definition at line 18 of file ransac_transformation.cpp.

Definition at line 24 of file ransac_transformation.cpp.


Member Function Documentation

void RansacTransformation::computeInliersAndError ( const std::vector< cv::DMatch > &  matches,
const Eigen::Matrix4f &  transformation,
const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  origins,
const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  earlier,
std::vector< cv::DMatch > &  inliers,
double &  mean_error,
std::vector< double > &  errors,
double  squaredMaxInlierDistInM 
)

Definition at line 29 of file ransac_transformation.cpp.

bool RansacTransformation::getRelativeTransformationTo ( const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  source_feature_locations_3d,
const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  target_feature_locations_3d,
std::vector< cv::DMatch > *  initial_matches,
Eigen::Matrix4f &  resulting_transformation,
float &  rmse,
std::vector< cv::DMatch > &  matches,
uint  min_matches 
)

Find transformation with largest support, RANSAC style. Return false if no transformation can be found

Iterations with more than half of the initial_matches inlying, count twice

Iterations with more than 80% of the initial_matches inlying, count threefold

Definition at line 154 of file ransac_transformation.cpp.

template<class InputIterator >
Eigen::Matrix4f RansacTransformation::getTransformFromMatches ( const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  source_feature_locations_3d,
const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  target_feature_locations_3d,
InputIterator  iter_begin,
InputIterator  iter_end,
bool valid,
float  max_dist_m 
)

Definition at line 98 of file ransac_transformation.cpp.


The documentation for this class was generated from the following files:
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rgbd_registration
Author(s): Ross Kidson
autogenerated on Thu May 23 2013 15:36:57