pcl::registration::CorrespondenceRejectorSampleConsensus< PointT > Class Template Reference
[Module registration]

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 >:
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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.
void getInliersIndices (std::vector< int > &inlier_indices)
 Get the inlier indices found by the correspondence rejector.
void setSaveInliers (bool s)
 Set whether to save inliers or not.
bool getSaveInliers ()
 Get whether the rejector is configured to save inliers.

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_
std::vector< int > inlier_indices_
bool save_inliers_

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

template<typename PointT>
typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus> pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::ConstPtr

Reimplemented from pcl::registration::CorrespondenceRejector.

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 71 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>
typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus> pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::Ptr

Reimplemented from pcl::registration::CorrespondenceRejector.

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 70 of file correspondence_rejection_sample_consensus.h.

Constructor & Destructor Documentation

template<typename PointT>
pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::CorrespondenceRejectorSampleConsensus (  )  [inline]

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_.

template<typename PointT>
virtual pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::~CorrespondenceRejectorSampleConsensus (  )  [inline, virtual]

Empty destructor.

Definition at line 90 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]

Apply the rejection algorithm.

Parameters:
[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Reimplemented in pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

Definition at line 217 of file correspondence_rejection_sample_consensus.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejector::input_correspondences_.

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 176 of file correspondence_rejection_sample_consensus.h.

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

template<typename PointT>
void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInliersIndices ( std::vector< int > &  inlier_indices  )  [inline]

Get the inlier indices found by the correspondence rejector.

This information is only saved if setSaveInliers(true) was called in advance.

Parameters:
[out] inlier_indices Indices for the inliers

Definition at line 198 of file correspondence_rejection_sample_consensus.h.

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

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 148 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 120 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 135 of file correspondence_rejection_sample_consensus.h.

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

template<typename PointT>
int pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getMaximumIterations (  )  [inline]

Get the maximum number of iterations.

Returns:
max_iterations Maximum number if iterations to run

Definition at line 170 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 189 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_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 85 of file correspondence_rejection_sample_consensus.hpp.

References pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::best_transformation_, pcl::RandomSampleConsensus< PointT >::computeModel(), pcl::registration::CorrespondenceRejector::getClassName(), pcl::SampleConsensus< PointT >::getInliers(), pcl::SampleConsensus< PointT >::getModelCoefficients(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_indices_, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::max_iterations_, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::refine_, pcl::SampleConsensus< PointT >::refineModel(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::save_inliers_, pcl::SampleConsensus< PointT >::setMaxIterations(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_.

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

template<typename PointT>
bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getSaveInliers (  )  [inline]

Get whether the rejector is configured to save inliers.

Definition at line 208 of file correspondence_rejection_sample_consensus.h.

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

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>
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_iterations Maximum number if iterations to run
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] cloud a 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   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] cloud a cloud containing XYZ data
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] threshold Distance threshold in the same dimension as source and target data sets.

Definition at line 142 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] cloud a cloud containing XYZ data

Definition at line 113 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] cloud a cloud containing XYZ data

Definition at line 131 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]

Set the maximum number of iterations.

Parameters:
[in] max_iterations Maximum number if iterations to run

Definition at line 159 of file correspondence_rejection_sample_consensus.h.

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

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] refine true if the model should be refined, false otherwise

Definition at line 182 of file correspondence_rejection_sample_consensus.h.

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

template<typename PointT>
void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setSaveInliers ( bool  s  )  [inline]

Set whether to save inliers or not.

Parameters:
[in] s True to save inliers / False otherwise

Definition at line 204 of file correspondence_rejection_sample_consensus.h.

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

Member Data Documentation

template<typename PointT>
Eigen::Matrix4f pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::best_transformation_ [protected]

Definition at line 230 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getBestTransformation(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().

template<typename PointT>
std::vector<int> pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_indices_ [protected]

Definition at line 233 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInliersIndices(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().

template<typename PointT>
double pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_ [protected]

Definition at line 222 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInlierThreshold(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInlierThreshold().

template<typename PointT>
PointCloudConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_ [protected]

Definition at line 226 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInputSource(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputSource().

template<typename PointT>
PointCloudPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_transformed_ [protected]

Definition at line 227 of file correspondence_rejection_sample_consensus.h.

template<typename PointT>
int pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::max_iterations_ [protected]

Definition at line 224 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getMaximumIterations(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setMaximumIterations().

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

Definition at line 232 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRefineModel(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setRefineModel().

template<typename PointT>
bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::save_inliers_ [protected]

Definition at line 234 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getSaveInliers(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setSaveInliers().

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

Definition at line 228 of file correspondence_rejection_sample_consensus.h.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInputTarget(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputTarget().

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