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

#include <correspondence_rejection_sample_consensus.h>

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

[legend]

List of all members.

Public Member Functions
	CorrespondenceRejectorSampleConsensus ()
	Empty constructor.
Eigen::Matrix4f	getBestTransformation ()
	Get the best transformation after RANSAC rejection.
double	getInlierThreshold ()
	Get the maximum distance between corresponding points.
int	getMaxIterations ()
	Get the maximum number of iterations.
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.
void	setInlierThreshold (double threshold)
	Set the maximum distance between corresponding points. Correspondences with distances below the threshold are considered as inliers.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!)
void	setMaxIterations (int max_iterations)
	Set the maximum number of iterations.
virtual void	setTargetCloud (const PointCloudConstPtr &cloud)
	Provide a target point cloud dataset (must contain XYZ data!)
virtual	~CorrespondenceRejectorSampleConsensus ()
	Empty destructor.
Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm.
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 56 of file correspondence_rejection_sample_consensus.h.

Member Typedef Documentation

template<typename PointT>

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

Definition at line 62 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Definition at line 64 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Definition at line 63 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 ( ) [inline, virtual]

Empty destructor.

Definition at line 80 of file correspondence_rejection_sample_consensus.h.

Member Function Documentation

template<typename PointT>

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

Apply the rejection algorithm.

Parameters:

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 139 of file correspondence_rejection_sample_consensus.h.

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.

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.

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.

template<typename PointT >

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

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 ) [inline, virtual]

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.

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 ) [inline, virtual]