CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...
#include <correspondence_rejection_sample_consensus.h>
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 |
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers)
Definition at line 56 of file correspondence_rejection_sample_consensus.h.
typedef pcl::PointCloud<PointT> pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PointCloud [private] |
Definition at line 62 of file correspondence_rejection_sample_consensus.h.
typedef PointCloud::ConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PointCloudConstPtr [private] |
Definition at line 64 of file correspondence_rejection_sample_consensus.h.
typedef PointCloud::Ptr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PointCloudPtr [private] |
Definition at line 63 of file correspondence_rejection_sample_consensus.h.
pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::CorrespondenceRejectorSampleConsensus | ( | ) | [inline] |
Empty constructor.
Definition at line 69 of file correspondence_rejection_sample_consensus.h.
virtual pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::~CorrespondenceRejectorSampleConsensus | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 80 of file correspondence_rejection_sample_consensus.h.
void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::applyRejection | ( | pcl::Correspondences & | correspondences | ) | [inline, protected, virtual] |
Apply the rejection algorithm.
[out] | correspondences | the set of resultant correspondences. |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 139 of file correspondence_rejection_sample_consensus.h.
Eigen::Matrix4f pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getBestTransformation | ( | ) | [inline] |
Get the best transformation after RANSAC rejection.
Definition at line 131 of file correspondence_rejection_sample_consensus.h.
double pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInlierThreshold | ( | ) | [inline] |
Get the maximum distance between corresponding points.
Definition at line 113 of file correspondence_rejection_sample_consensus.h.
int pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getMaxIterations | ( | ) | [inline] |
Get the maximum number of iterations.
Definition at line 125 of file correspondence_rejection_sample_consensus.h.
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.
[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.
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.
[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.
virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual] |
Provide a source point cloud dataset (must contain XYZ data!)
[in] | cloud | a cloud containing XYZ data |
Definition at line 94 of file correspondence_rejection_sample_consensus.h.
void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setMaxIterations | ( | int | max_iterations | ) | [inline] |
Set the maximum number of iterations.
[in] | max_iterations | Maximum number if iterations to run |
Definition at line 119 of file correspondence_rejection_sample_consensus.h.
virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setTargetCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual] |
Provide a target point cloud dataset (must contain XYZ data!)
[in] | cloud | a cloud containing XYZ data |
Definition at line 100 of file correspondence_rejection_sample_consensus.h.
Eigen::Matrix4f pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::best_transformation_ [protected] |
Definition at line 151 of file correspondence_rejection_sample_consensus.h.
double pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_ [protected] |
Definition at line 144 of file correspondence_rejection_sample_consensus.h.
PointCloudConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_ [protected] |
Definition at line 148 of file correspondence_rejection_sample_consensus.h.
int pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::max_iterations_ [protected] |
Definition at line 146 of file correspondence_rejection_sample_consensus.h.
PointCloudConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_ [protected] |
Definition at line 149 of file correspondence_rejection_sample_consensus.h.