Point Cloud Library (PCL)
1.3.1
|
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 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. |
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers)
pcl::registration::CorrespondenceRejectorSampleConsensus::CorrespondenceRejectorSampleConsensus | ( | ) | [inline] |
Empty constructor.
Definition at line 67 of file correspondence_rejection_sample_consensus.h.
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.
[in] | a | the first correspondence |
[in] | b | the 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.
Definition at line 129 of file correspondence_rejection_sample_consensus.h.
void pcl::registration::CorrespondenceRejector::getCorrespondences | ( | pcl::Correspondences & | correspondences | ) | [inline, inherited] |
Run correspondence rejection.
[out] | correspondences | Vector 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.
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.
Definition at line 72 of file correspondence_rejection.h.
int pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations | ( | ) | [inline] |
Get the maximum number of iterations.
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.
[in] | correspondences | Vector of correspondences after rejection |
[out] | indices | Vector 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.
original_correspondences | the set of initial correspondences given |
remaining_correspondences | the 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.
[in] | threshold | Distance 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!)
[in] | cloud | a 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.
[in] | correspondences | the 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.
[in] | max_iterations | Maximum 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!)
[in] | cloud | a cloud containing XYZ data |
Definition at line 93 of file correspondence_rejection_sample_consensus.h.