Point Cloud Library (PCL)  1.3.1
correspondence_rejection_sample_consensus.h
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00036 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
00037 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
00038 
00039 #include <pcl/registration/correspondence_rejection.h>
00040 
00041 #include <pcl/sample_consensus/ransac.h>
00042 #include <pcl/sample_consensus/sac_model_registration.h>
00043 
00044 namespace pcl
00045 {
00046   namespace registration
00047   {
00053     template <typename PointT>
00054     class CorrespondenceRejectorSampleConsensus: public CorrespondenceRejector
00055     {
00056       using CorrespondenceRejector::input_correspondences_;
00057       using CorrespondenceRejector::rejection_name_;
00058       using CorrespondenceRejector::getClassName;
00059 
00060       typedef pcl::PointCloud<PointT> PointCloud;
00061       typedef typename PointCloud::Ptr PointCloudPtr;
00062       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00063 
00064       public:
00065 
00067         CorrespondenceRejectorSampleConsensus ()
00068         {
00069           rejection_name_ = "CorrespondenceRejectorSampleConsensus";
00070           inlier_threshold_ = 0.05;
00071         }
00072 
00077         inline void 
00078         getRemainingCorrespondences (const pcl::Correspondences& original_correspondences, 
00079                                      pcl::Correspondences& remaining_correspondences);
00080 
00085         virtual inline void 
00086         setInputCloud (const PointCloudConstPtr &cloud) { input_ = cloud; }
00087 
00092         virtual inline void 
00093         setTargetCloud (const PointCloudConstPtr &cloud) { target_ = cloud; }
00094 
00100         inline void 
00101         setInlierThreshold (double threshold) { inlier_threshold_ = threshold; };
00102 
00107         inline double 
00108         getInlierThreshold() { return inlier_threshold_; };
00109 
00114         inline void 
00115         setMaxIterations (int max_iterations) {max_iterations_ = std::max(max_iterations, 0); };
00116 
00121         inline int 
00122         getMaxIterations () { return max_iterations_; };
00123 
00128         inline Eigen::Matrix4f 
00129         getBestTransformation () { return best_transformation_; };
00130 
00131       protected:
00132 
00133         inline void 
00134         applyRejection (pcl::Correspondences &correspondences);
00135 
00136         double inlier_threshold_;
00137 
00138         int max_iterations_;
00139 
00140         PointCloudConstPtr input_;
00141         PointCloudConstPtr target_;
00142 
00143         Eigen::Matrix4f best_transformation_;
00144     };
00145   }
00146 }
00147 
00148 #include "pcl/registration/impl/correspondence_rejection_sample_consensus.hpp"
00149 
00150 #endif /* PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_ */
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