Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT > Class Template Reference

CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...

#include <pcl/registration/correspondence_rejection_sample_consensus_2d.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >:

Public Types

typedef boost::shared_ptr
< CorrespondenceRejectorSampleConsensus2D
Ptr
 
typedef boost::shared_ptr
< const
CorrespondenceRejectorSampleConsensus2D
ConstPtr
 
- Public Types inherited from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >
typedef boost::shared_ptr
< CorrespondenceRejectorSampleConsensus
Ptr
 
typedef boost::shared_ptr
< const
CorrespondenceRejectorSampleConsensus
ConstPtr
 
- Public Types inherited from pcl::registration::CorrespondenceRejector
typedef boost::shared_ptr
< CorrespondenceRejector
Ptr
 
typedef boost::shared_ptr
< const CorrespondenceRejector
ConstPtr
 

Public Member Functions

 CorrespondenceRejectorSampleConsensus2D ()
 Empty constructor. More...
 
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. More...
 
void setFocalLengths (const float fx, const float fy)
 Sets the focal length parameters of the target camera. More...
 
void getFocalLengths (float &fx, float &fy) const
 Reads back the focal length parameters of the target camera. More...
 
void setCameraCenters (const float cx, const float cy)
 Sets the camera center parameters of the target camera. More...
 
void getCameraCenters (float &cx, float &cy) const
 Reads back the camera center parameters of the target camera. More...
 
- Public Member Functions inherited from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >
 CorrespondenceRejectorSampleConsensus ()
 Empty constructor. More...
 
virtual ~CorrespondenceRejectorSampleConsensus ()
 Empty destructor. More...
 
virtual void setInputSource (const PointCloudConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!) More...
 
PointCloudConstPtr const getInputSource ()
 Get a pointer to the input point cloud dataset target. More...
 
virtual void setInputTarget (const PointCloudConstPtr &cloud)
 Provide a target point cloud dataset (must contain XYZ data!) More...
 
PointCloudConstPtr const getInputTarget ()
 Get a pointer to the input point cloud dataset target. More...
 
bool requiresSourcePoints () const
 See if this rejector requires source points. More...
 
void setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
 Blob method for setting the source cloud. More...
 
bool requiresTargetPoints () const
 See if this rejector requires a target cloud. More...
 
void setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
 Method for setting the target cloud. More...
 
void setInlierThreshold (double threshold)
 Set the maximum distance between corresponding points. More...
 
double getInlierThreshold ()
 Get the maximum distance between corresponding points. More...
 
void setMaximumIterations (int max_iterations)
 Set the maximum number of iterations. More...
 
int getMaximumIterations ()
 Get the maximum number of iterations. More...
 
Eigen::Matrix4f getBestTransformation ()
 Get the best transformation after RANSAC rejection. More...
 
void setRefineModel (const bool refine)
 Specify whether the model should be refined internally using the variance of the inliers. More...
 
bool getRefineModel () const
 Get the internal refine parameter value as set by the user using setRefineModel. More...
 
void getInliersIndices (std::vector< int > &inlier_indices)
 Get the inlier indices found by the correspondence rejector. More...
 
void setSaveInliers (bool s)
 Set whether to save inliers or not. More...
 
bool getSaveInliers ()
 Get whether the rejector is configured to save inliers. More...
 
- Public Member Functions inherited from pcl::registration::CorrespondenceRejector
 CorrespondenceRejector ()
 Empty constructor. More...
 
virtual ~CorrespondenceRejector ()
 Empty destructor. More...
 
virtual void setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences. More...
 
CorrespondencesConstPtr getInputCorrespondences ()
 Get a pointer to the vector of the input correspondences. More...
 
void getCorrespondences (pcl::Correspondences &correspondences)
 Run correspondence rejection. More...
 
void getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &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...
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool requiresSourceNormals () const
 See if this rejector requires source normals. More...
 
virtual void setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the source normals. More...
 
virtual bool requiresTargetNormals () const
 See if this rejector requires target normals. More...
 
virtual void setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the target normals. More...
 

Protected Member Functions

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

Protected Attributes

Eigen::Matrix3f projection_matrix_
 Camera projection matrix. More...
 
- Protected Attributes inherited from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >
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_
 
- Protected Attributes inherited from pcl::registration::CorrespondenceRejector
std::string rejection_name_
 The name of the rejection method. More...
 
CorrespondencesConstPtr input_correspondences_
 The input correspondences. More...
 

Detailed Description

template<typename PointT>
class pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >

CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers)

Author
Radu B. Rusu

Definition at line 55 of file correspondence_rejection_sample_consensus_2d.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 78 of file correspondence_rejection_sample_consensus_2d.h.

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

Member Function Documentation

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::applyRejection ( pcl::Correspondences correspondences)
inlineprotectedvirtual
template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getCameraCenters ( float &  cx,
float &  cy 
) const
inline

Reads back the camera center parameters of the target camera.

Parameters
[out]cxthe x-coordinate of the camera center
[out]cythe y-coordinate of the camera center

Definition at line 136 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getFocalLengths ( float &  fx,
float &  fy 
) const
inline

Reads back the focal length parameters of the target camera.

Parameters
[out]fxthe focal length in pixels along the x-axis of the image
[out]fythe focal length in pixels along the y-axis of the image

Definition at line 113 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
)
inlinevirtual
template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setCameraCenters ( const float  cx,
const float  cy 
)
inline

Sets the camera center parameters of the target camera.

Parameters
[in]cxthe x-coordinate of the camera center
[in]cythe y-coordinate of the camera center

Definition at line 125 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::setFocalLengths ( const float  fx,
const float  fy 
)
inline

Sets the focal length parameters of the target camera.

Parameters
[in]fxthe focal length in pixels along the x-axis of the image
[in]fythe focal length in pixels along the y-axis of the image

Definition at line 102 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_.

Member Data Documentation

template<typename PointT >
Eigen::Matrix3f pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::projection_matrix_
protected

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