Point Cloud Library (PCL)  1.3.1
Public Member Functions | Static Public Member Functions
pcl::registration::CorrespondenceRejectorSampleConsensus Class Reference

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

#include <pcl/registration/correspondence_rejection_sample_consensus.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSampleConsensus:
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List of all members.

Public Member Functions

 CorrespondenceRejectorSampleConsensus ()
 Empty constructor.
void getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
 DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!)
virtual void setTargetCloud (const PointCloudConstPtr &cloud)
 Provide a target point cloud dataset (must contain XYZ data!)
void setInlierThreshold (double threshold)
 Set the maximum distance between corresponding points.
double getInlierThreshold ()
 Get the maximum distance between corresponding points.
void setMaxIterations (int max_iterations)
 Set the maximum number of iterations.
int getMaxIterations ()
 Get the maximum number of iterations.
Eigen::Matrix4f getBestTransformation ()
 Get the best transformation after RANSAC rejection.
virtual void setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences.
CorrespondencesConstPtr getInputCorrespondences ()
 Get a pointer to the vector of the input correspondences.
void getCorrespondences (pcl::Correspondences &correspondences)
 Run correspondence rejection.
void getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
 DEPRECATED: Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector.

Static Public Member Functions

static bool compareCorrespondencesDistance (const pcl::Correspondence &a, const pcl::Correspondence &b)
 DEPRECATED: Simple comparator for two correspondences.

Detailed Description

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

Author:
Dirk Holz

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorSampleConsensus::CorrespondenceRejectorSampleConsensus ( ) [inline]

Empty constructor.

Definition at line 67 of file correspondence_rejection_sample_consensus.h.


Member Function Documentation

static bool pcl::registration::CorrespondenceRejector::compareCorrespondencesDistance ( const pcl::Correspondence a,
const pcl::Correspondence b 
) [inline, static, inherited]

DEPRECATED: Simple comparator for two correspondences.

Returns true if the distance of the first correspondence is smaller than the distance of the second.

Parameters:
[in]athe first correspondence
[in]bthe second correspondence

Definition at line 107 of file correspondence_rejection.h.

Eigen::Matrix4f pcl::registration::CorrespondenceRejectorSampleConsensus::getBestTransformation ( ) [inline]

Get the best transformation after RANSAC rejection.

Returns:
The homogeneous 4x4 transformation yielding the largest number of inliers.

Definition at line 129 of file correspondence_rejection_sample_consensus.h.

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences correspondences) [inline, inherited]

Run correspondence rejection.

Parameters:
[out]correspondencesVector of correspondences that have not been rejected.

Definition at line 78 of file correspondence_rejection.h.

double pcl::registration::CorrespondenceRejectorSampleConsensus::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 108 of file correspondence_rejection_sample_consensus.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( ) [inline, inherited]

Get a pointer to the vector of the input correspondences.

Returns:
correspondences the const boost shared pointer to a correspondence vector

Definition at line 72 of file correspondence_rejection.h.

int pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations ( ) [inline]

Get the maximum number of iterations.

Returns:
max_iterations Maximum number if iterations to run

Definition at line 122 of file correspondence_rejection_sample_consensus.h.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices ( const pcl::Correspondences correspondences,
std::vector< int > &  indices 
) [inline, inherited]

DEPRECATED: Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector.

Parameters:
[in]correspondencesVector of correspondences after rejection
[out]indicesVector of query point indices of those correspondences that have been rejected.

Definition at line 123 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejectorSampleConsensus::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
) [inline, virtual]

DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters:
original_correspondencesthe set of initial correspondences given
remaining_correspondencesthe resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 113 of file correspondence_rejection_sample_consensus.hpp.

void pcl::registration::CorrespondenceRejectorSampleConsensus::setInlierThreshold ( double  threshold) [inline]

Set the maximum distance between corresponding points.

Correspondences with distances below the threshold are considered as inliers.

Parameters:
[in]thresholdDistance threshold in the same dimension as source and target data sets.

Definition at line 101 of file correspondence_rejection_sample_consensus.h.

virtual void pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud ( const PointCloudConstPtr &  cloud) [inline, virtual]

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

Parameters:
[in]clouda cloud containing XYZ data

Definition at line 86 of file correspondence_rejection_sample_consensus.h.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr correspondences) [inline, virtual, inherited]

Provide a pointer to the vector of the input correspondences.

Parameters:
[in]correspondencesthe const boost shared pointer to a correspondence vector

Definition at line 63 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations ( int  max_iterations) [inline]

Set the maximum number of iterations.

Parameters:
[in]max_iterationsMaximum number if iterations to run

Definition at line 115 of file correspondence_rejection_sample_consensus.h.

virtual void pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud ( const PointCloudConstPtr &  cloud) [inline, virtual]

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

Parameters:
[in]clouda cloud containing XYZ data

Definition at line 93 of file correspondence_rejection_sample_consensus.h.


The documentation for this class was generated from the following files:
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