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

RansacTransformation::RansacTransformation ( )

Definition at line 18 of file ransac_transformation.cpp.

RansacTransformation::~RansacTransformation ( ) [virtual]

Definition at line 24 of file ransac_transformation.cpp.

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: