CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...
#include <pcl/registration/correspondence_rejection_sample_consensus.h>
Public Types |
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| using | Ptr = shared_ptr< CorrespondenceRejectorSampleConsensus< PointT > > |
| using | ConstPtr = shared_ptr< const CorrespondenceRejectorSampleConsensus< PointT > > |
 Public Types inherited from pcl::registration::CorrespondenceRejector |
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| using | Ptr = shared_ptr< CorrespondenceRejector > |
| using | ConstPtr = shared_ptr< const CorrespondenceRejector > |
Public Member Functions |
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| CorrespondenceRejectorSampleConsensus () | |
| Empty constructor. More... |
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| ~CorrespondenceRejectorSampleConsensus () | |
| Empty destructor. More... |
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| void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override |
| Get a list of valid correspondences after rejection from the original set of correspondences. More... |
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| virtual void | setInputSource (const PointCloudConstPtr &cloud) |
| Provide a source point cloud dataset (must contain XYZ data!) More... |
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| const PointCloudConstPtr | getInputSource () |
| Get a pointer to the input point cloud dataset target. More... |
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| virtual void | setInputTarget (const PointCloudConstPtr &cloud) |
| Provide a target point cloud dataset (must contain XYZ data!) More... |
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| const PointCloudConstPtr | getInputTarget () |
| Get a pointer to the input point cloud dataset target. More... |
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| bool | requiresSourcePoints () const override |
| See if this rejector requires source points. More... |
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| void | setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2) override |
| Blob method for setting the source cloud. More... |
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| bool | requiresTargetPoints () const override |
| See if this rejector requires a target cloud. More... |
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| void | setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) override |
| Method for setting the target cloud. More... |
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| void | setInlierThreshold (double threshold) |
| Set the maximum distance between corresponding points. More... |
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| double | getInlierThreshold () |
| Get the maximum distance between corresponding points. More... |
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| void | setMaximumIterations (int max_iterations) |
| Set the maximum number of iterations. More... |
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| int | getMaximumIterations () |
| Get the maximum number of iterations. More... |
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| Eigen::Matrix4f | getBestTransformation () |
| Get the best transformation after RANSAC rejection. More... |
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| void | setRefineModel (const bool refine) |
| Specify whether the model should be refined internally using the variance of the inliers. More... |
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| bool | getRefineModel () const |
| Get the internal refine parameter value as set by the user using setRefineModel. More... |
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| void | getInliersIndices (pcl::Indices &inlier_indices) |
| Get the inlier indices found by the correspondence rejector. More... |
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| void | setSaveInliers (bool s) |
| Set whether to save inliers or not. More... |
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| bool | getSaveInliers () |
| Get whether the rejector is configured to save inliers. More... |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Public Member Functions inherited from pcl::registration::CorrespondenceRejector |
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| CorrespondenceRejector () | |
| Empty constructor. More... |
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| virtual | ~CorrespondenceRejector () |
| Empty destructor. More... |
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| virtual void | setInputCorrespondences (const CorrespondencesConstPtr &correspondences) |
| Provide a pointer to the vector of the input correspondences. More... |
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| CorrespondencesConstPtr | getInputCorrespondences () |
| Get a pointer to the vector of the input correspondences. More... |
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| void | getCorrespondences (pcl::Correspondences &correspondences) |
| Run correspondence rejection. More... |
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| void | getRejectedQueryIndices (const pcl::Correspondences &correspondences, pcl::Indices &indices) |
| 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. More... |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | requiresSourceNormals () const |
| See if this rejector requires source normals. More... |
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| virtual void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the source normals. More... |
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| virtual bool | requiresTargetNormals () const |
| See if this rejector requires target normals. More... |
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| virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the target normals. More... |
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Public Attributes |
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| CorrespondencesConstPtr | input_correspondences_ |
| The input correspondences. More... |
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| std::string | rejection_name_ |
| The name of the rejection method. More... |
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Protected Member Functions |
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| void | applyRejection (pcl::Correspondences &correspondences) override |
| Apply the rejection algorithm. More... |
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Protected Attributes |
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| double | inlier_threshold_ |
| int | max_iterations_ |
| PointCloudConstPtr | input_ |
| PointCloudPtr | input_transformed_ |
| PointCloudConstPtr | target_ |
| Eigen::Matrix4f | best_transformation_ |
| bool | refine_ |
| pcl::Indices | inlier_indices_ |
| bool | save_inliers_ |
| Protected Attributes inherited from pcl::registration::CorrespondenceRejector |
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| std::string | rejection_name_ |
| The name of the rejection method. More... |
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| CorrespondencesConstPtr | input_correspondences_ |
| The input correspondences. More... |
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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)
Definition at line 54 of file correspondence_rejection_sample_consensus.h.
Member Typedef Documentation
ConstPtr
| using pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus<PointT> > |
Definition at line 65 of file correspondence_rejection_sample_consensus.h.
Ptr
| using pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus<PointT> > |
Definition at line 64 of file correspondence_rejection_sample_consensus.h.
Constructor & Destructor Documentation
CorrespondenceRejectorSampleConsensus()
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inline |
Empty constructor.
Sets the inlier threshold to 5cm (0.05m), and the maximum number of iterations to 1000.
Definition at line 70 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejector::rejection_name_.
~CorrespondenceRejectorSampleConsensus()
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inline |
Empty destructor.
Definition at line 83 of file correspondence_rejection_sample_consensus.h.
Member Function Documentation
applyRejection()
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inlineoverrideprotectedvirtual |
Apply the rejection algorithm.
- Parameters
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[out] correspondences the set of resultant correspondences.
Implements pcl::registration::CorrespondenceRejector.
Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.
Definition at line 254 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejector::input_correspondences_.
getBestTransformation()
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inline |
Get the best transformation after RANSAC rejection.
- Returns
- The homogeneous 4x4 transformation yielding the largest number of inliers.
Definition at line 200 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::best_transformation_.
Referenced by pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences().
getClassName()
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inline |
Get a string representation of the name of this class.
Definition at line 131 of file correspondence_rejection.h.
getInliersIndices()
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inline |
Get the inlier indices found by the correspondence rejector.
This information is only saved if setSaveInliers(true) was called in advance.
- Parameters
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[out] inlier_indices Indices for the inliers
Definition at line 228 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_indices_.
getInlierThreshold()
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inline |
Get the maximum distance between corresponding points.
- Returns
- Distance threshold in the same dimension as source and target data sets.
Definition at line 173 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_.
getInputSource()
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inline |
Get a pointer to the input point cloud dataset target.
Definition at line 105 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_.
getInputTarget()
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inline |
Get a pointer to the input point cloud dataset target.
Definition at line 121 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_.
getMaximumIterations()
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inline |
Get the maximum number of iterations.
- Returns
- max_iterations Maximum number if iterations to run
Definition at line 191 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::max_iterations_.
getRefineModel()
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inline |
Get the internal refine parameter value as set by the user using setRefineModel.
Definition at line 218 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::refine_.
getRemainingCorrespondences()
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inlineoverridevirtual |
Get a list of valid correspondences after rejection from the original set of correspondences.
- Parameters
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[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 55 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(), pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences().
getSaveInliers()
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inline |
Get whether the rejector is configured to save inliers.
Definition at line 244 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::save_inliers_.
requiresSourcePoints()
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inlineoverridevirtual |
See if this rejector requires source points.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 128 of file correspondence_rejection_sample_consensus.h.
requiresTargetPoints()
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inlineoverridevirtual |
See if this rejector requires a target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 144 of file correspondence_rejection_sample_consensus.h.
setInlierThreshold()
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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 164 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_.
Referenced by pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences().
setInputSource()
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inlinevirtual |
Provide a source point cloud dataset (must contain XYZ data!)
- Parameters
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[in] cloud a cloud containing XYZ data
Definition at line 98 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_.
Referenced by pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setSourcePoints().
setInputTarget()
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inlinevirtual |
Provide a target point cloud dataset (must contain XYZ data!)
- Parameters
-
[in] cloud a cloud containing XYZ data
Definition at line 114 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_.
Referenced by pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setTargetPoints().
setMaximumIterations()
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inline |
Set the maximum number of iterations.
- Parameters
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[in] max_iterations Maximum number if iterations to run
Definition at line 182 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::max_iterations_.
Referenced by pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences().
setRefineModel()
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inline |
Specify whether the model should be refined internally using the variance of the inliers.
- Parameters
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[in] refine true if the model should be refined, false otherwise
Definition at line 210 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::refine_.
setSaveInliers()
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inline |
Set whether to save inliers or not.
- Parameters
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[in] s True to save inliers / False otherwise
Definition at line 237 of file correspondence_rejection_sample_consensus.h.
References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::save_inliers_.
setSourcePoints()
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inlineoverridevirtual |
Blob method for setting the source cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 135 of file correspondence_rejection_sample_consensus.h.
References pcl::fromPCLPointCloud2(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputSource().
setTargetPoints()
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inlineoverridevirtual |
Method for setting the target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 151 of file correspondence_rejection_sample_consensus.h.
References pcl::fromPCLPointCloud2(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputTarget().
Member Data Documentation
best_transformation_
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protected |
Definition at line 267 of file correspondence_rejection_sample_consensus.h.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getBestTransformation().
inlier_indices_
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protected |
Definition at line 270 of file correspondence_rejection_sample_consensus.h.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInliersIndices().
inlier_threshold_
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protected |
input_
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protected |
input_correspondences_
| CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::input_correspondences_ |
The input correspondences.
Definition at line 200 of file correspondence_rejection.h.
input_transformed_
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protected |
Definition at line 264 of file correspondence_rejection_sample_consensus.h.
max_iterations_
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protected |
refine_
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protected |
rejection_name_
| std::string pcl::registration::CorrespondenceRejector::rejection_name_ |
The name of the rejection method.
Definition at line 197 of file correspondence_rejection.h.
save_inliers_
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protected |
target_
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protected |
The documentation for this class was generated from the following files:
- pcl/registration/correspondence_rejection_sample_consensus.h
- pcl/registration/impl/correspondence_rejection_sample_consensus.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_rejector_sample_consensus.html
