Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::CorrespondenceRejectorSampleConsensus< PointT > Class Template 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< PointT >:

List of all members.

Public Types

typedef boost::shared_ptr
< CorrespondenceRejectorSampleConsensus
Ptr
typedef boost::shared_ptr
< const
CorrespondenceRejectorSampleConsensus
ConstPtr

Public Member Functions

 CorrespondenceRejectorSampleConsensus ()
 Empty constructor.
virtual ~CorrespondenceRejectorSampleConsensus ()
 Empty destructor.
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.
virtual void setInputSource (const PointCloudConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!)
PointCloudConstPtr const getInputSource ()
 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!)
virtual void setInputTarget (const PointCloudConstPtr &cloud)
 Provide a target point cloud dataset (must contain XYZ data!)
PointCloudConstPtr const getInputTarget ()
 Get a pointer to the input point cloud dataset target.
void setInlierThreshold (double threshold)
 Set the maximum distance between corresponding points.
double getInlierThreshold ()
 Get the maximum distance between corresponding points.
 PCL_DEPRECATED (void setMaxIterations(int max_iterations),"[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.")
 Set the maximum number of iterations.
void setMaximumIterations (int max_iterations)
 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.
int getMaximumIterations ()
 Get the maximum number of iterations.
Eigen::Matrix4f getBestTransformation ()
 Get the best transformation after RANSAC rejection.
void setRefineModel (const bool refine)
 Specify whether the model should be refined internally using the variance of the inliers.
bool getRefineModel () const
 Get the internal refine parameter value as set by the user using setRefineModel.

Protected Member Functions

void applyRejection (pcl::Correspondences &correspondences)
 Apply the rejection algorithm.

Protected Attributes

double inlier_threshold_
int max_iterations_
PointCloudConstPtr input_
PointCloudPtr input_transformed_
PointCloudConstPtr target_
Eigen::Matrix4f best_transformation_
bool refine_

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


Constructor & Destructor Documentation

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.

References pcl::registration::CorrespondenceRejector::rejection_name_.

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]
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.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::best_transformation_.

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.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_.

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.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_.

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.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_.

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.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::max_iterations_.

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.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::refine_.

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_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe 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.

References pcl::RandomSampleConsensus< PointT >::computeModel(), pcl::SampleConsensus< PointT >::getInliers(), pcl::SampleConsensus< PointT >::getModelCoefficients(), pcl::SampleConsensus< PointT >::refineModel(), and pcl::SampleConsensus< PointT >::setMaxIterations().

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::applyRejection().

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]clouda 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]clouda 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_iterationsMaximum 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]thresholdDistance threshold in the same dimension as source and target data sets.

Definition at line 141 of file correspondence_rejection_sample_consensus.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_.

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]clouda cloud containing XYZ data

Definition at line 112 of file correspondence_rejection_sample_consensus.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_.

template<typename PointT>
virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputTarget ( 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 130 of file correspondence_rejection_sample_consensus.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_.

template<typename PointT>
void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setMaximumIterations ( int  max_iterations) [inline]
template<typename PointT>
void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setRefineModel ( const bool  refine) [inline]

Specify whether the model should be refined internally using the variance of the inliers.

Parameters:
[in]refinetrue if the model should be refined, false otherwise

Definition at line 181 of file correspondence_rejection_sample_consensus.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::refine_.


Member Data Documentation

template<typename PointT>
Eigen::Matrix4f pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::best_transformation_ [protected]
template<typename PointT>
double pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_ [protected]
template<typename PointT>
PointCloudConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_ [protected]
template<typename PointT>
PointCloudPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_transformed_ [protected]

Definition at line 208 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>
bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::refine_ [protected]
template<typename PointT>
PointCloudConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_ [protected]

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