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 Types
typedef boost::shared_ptr < const CorrespondenceRejectorSampleConsensus >	ConstPtr
typedef boost::shared_ptr < CorrespondenceRejectorSampleConsensus >	Ptr
Public Member Functions
	CorrespondenceRejectorSampleConsensus ()
	Empty constructor. Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to 1000.
Eigen::Matrix4f	getBestTransformation ()
	Get the best transformation after RANSAC rejection.
double	getInlierThreshold ()
	Get the maximum distance between corresponding points.
PointCloudConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target.
PointCloudConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target.
int	getMaximumIterations ()
	Get the maximum number of iterations.
bool	getRefineModel () const
	Get the internal refine parameter value as set by the user using setRefineModel.
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.
	PCL_DEPRECATED (virtual void setInputCloud(const PointCloudConstPtr &cloud),"[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
	Provide a source point cloud dataset (must contain XYZ data!)
	PCL_DEPRECATED (PointCloudConstPtr const getInputCloud(),"[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
	Get a pointer to the input point cloud dataset target.
	PCL_DEPRECATED (virtual void setTargetCloud(const PointCloudConstPtr &cloud),"[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.")
	Provide a target point cloud dataset (must contain XYZ data!)
	PCL_DEPRECATED (void setMaxIterations(int max_iterations),"[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.")
	Set the maximum number of iterations.
	PCL_DEPRECATED (int getMaxIterations(),"[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.")
	Get the maximum number of iterations.
void	setInlierThreshold (double threshold)
	Set the maximum distance between corresponding points. Correspondences with distances below the threshold are considered as inliers.
virtual void	setInputSource (const PointCloudConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!)
virtual void	setInputTarget (const PointCloudConstPtr &cloud)
	Provide a target point cloud dataset (must contain XYZ data!)
void	setMaximumIterations (int max_iterations)
	Set the maximum number of iterations.
void	setRefineModel (const bool refine)
	Specify whether the model should be refined internally using the variance of the inliers.
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_
PointCloudPtr	input_transformed_
int	max_iterations_
bool	refine_
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 59 of file correspondence_rejection_sample_consensus.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus> pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::ConstPtr

Reimplemented from pcl::registration::CorrespondenceRejector.

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 71 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 61 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 63 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 62 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus> pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::Ptr

Reimplemented from pcl::registration::CorrespondenceRejector.

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 70 of file correspondence_rejection_sample_consensus.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Empty constructor. Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to 1000.

Definition at line 76 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Empty destructor.

Definition at line 89 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.

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 198 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 175 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 147 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Get a pointer to the input point cloud dataset target.

Definition at line 119 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Get a pointer to the input point cloud dataset target.

Definition at line 134 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Get the maximum number of iterations.

Returns:: max_iterations Maximum number if iterations to run

Definition at line 169 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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

Get the internal refine parameter value as set by the user using setRefineModel.

Definition at line 188 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.

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 85 of file correspondence_rejection_sample_consensus.hpp.

template<typename PointT>

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PCL_DEPRECATED	(	virtual void	setInputCloudconst PointCloudConstPtr &cloud,
		" setInputCloud is deprecated. Please use setInputSource instead."	[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud]
	)

Provide a source point cloud dataset (must contain XYZ data!)

Parameters:

[in] cloud a cloud containing XYZ data

template<typename PointT>

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PCL_DEPRECATED	(	PointCloudConstPtr const	getInputCloud(),
		" getInputCloud is deprecated. Please use getInputSource instead."	[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud]
	)

Get a pointer to the input point cloud dataset target.

template<typename PointT>

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PCL_DEPRECATED	(	virtual void	setTargetCloudconst PointCloudConstPtr &cloud,
		" setTargetCloud is deprecated. Please use setInputTarget instead."	[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud]
	)

Provide a target point cloud dataset (must contain XYZ data!)

Parameters:

[in] cloud a cloud containing XYZ data

template<typename PointT>

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PCL_DEPRECATED	(	void	setMaxIterationsint max_iterations,
		" setMaxIterations is deprecated. Please use setMaximumIterations instead."	[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations]
	)

Set the maximum number of iterations.

Parameters:

[in] max_iterations Maximum number if iterations to run

template<typename PointT>

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::PCL_DEPRECATED	(	int	getMaxIterations(),
		" getMaxIterations is deprecated. Please use getMaximumIterations instead."	[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations]
	)

Get the maximum number of iterations.

Returns:: max_iterations Maximum number if iterations to run

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 141 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputSource ( 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 112 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>

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