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 >:

Collaboration diagram for pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >:

Public Types
using	Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus<PointT>>

using	ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus<PointT>>

Public Types inherited from pcl::registration::CorrespondenceRejector
using	Ptr = shared_ptr<CorrespondenceRejector>

using	ConstPtr = shared_ptr<const CorrespondenceRejector>

Public Member Functions
	CorrespondenceRejectorSampleConsensus ()
	Empty constructor.

	~CorrespondenceRejectorSampleConsensus ()
	Empty destructor.

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.

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.

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.

bool	requiresSourcePoints () const override
	See if this rejector requires source points.

void	setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2) override
	Blob method for setting the source cloud.

bool	requiresTargetPoints () const override
	See if this rejector requires a target cloud.

void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) override
	Method for setting the target cloud.

void	setInlierThreshold (double threshold)
	Set the maximum distance between corresponding points.

double	getInlierThreshold ()
	Get the maximum distance between corresponding points.

void	setMaximumIterations (int max_iterations)
	Set 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 (pcl::Indices &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.

const std::string &	getClassName () const
	Get a string representation of the name of this class.

Public Member Functions inherited from pcl::registration::CorrespondenceRejector
	CorrespondenceRejector ()
	Empty constructor.

virtual	~CorrespondenceRejector ()
	Empty destructor.

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, 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.

const std::string &	getClassName () const
	Get a string representation of the name of this class.

virtual bool	requiresSourceNormals () const
	See if this rejector requires source normals.

virtual void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source normals.

virtual bool	requiresTargetNormals () const
	See if this rejector requires target normals.

virtual void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target normals.

Public Attributes
CorrespondencesConstPtr	input_correspondences_
	The input correspondences.

std::string	rejection_name_
	The name of the rejection method.

Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences) override
	Apply the rejection algorithm.

Protected Member Functions inherited from pcl::registration::CorrespondenceRejector

Protected Attributes
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
std::string	rejection_name_
	The name of the rejection method.

CorrespondencesConstPtr	input_correspondences_
	The input correspondences.

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 54 of file correspondence_rejection_sample_consensus.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus<PointT>>

Definition at line 65 of file correspondence_rejection_sample_consensus.h.

◆ Ptr

template<typename PointT >

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()

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 70 of file correspondence_rejection_sample_consensus.h.

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

◆ ~CorrespondenceRejectorSampleConsensus()

template<typename PointT >

pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::~CorrespondenceRejectorSampleConsensus ( )

inline

Empty destructor.

Definition at line 83 of file correspondence_rejection_sample_consensus.h.

Member Function Documentation

◆ applyRejection()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::applyRejection ( pcl::Correspondences & correspondences )

inlineoverrideprotectedvirtual

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 254 of file correspondence_rejection_sample_consensus.h.

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

◆ getBestTransformation()

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 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()

template<typename PointT >

const std::string & pcl::registration::CorrespondenceRejector::getClassName ( ) const

inline

Get a string representation of the name of this class.

Definition at line 131 of file correspondence_rejection.h.

◆ getInliersIndices()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInliersIndices ( pcl::Indices & 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 228 of file correspondence_rejection_sample_consensus.h.

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

◆ getInlierThreshold()

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 173 of file correspondence_rejection_sample_consensus.h.

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

◆ getInputSource()

template<typename PointT >

PointCloudConstPtr const pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInputSource ( )

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()

template<typename PointT >

PointCloudConstPtr const pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getInputTarget ( )

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()

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 191 of file correspondence_rejection_sample_consensus.h.

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

◆ getRefineModel()

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 218 of file correspondence_rejection_sample_consensus.h.

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

◆ getRemainingCorrespondences()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences )

inlineoverridevirtual

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 55 of file correspondence_rejection_sample_consensus.hpp.

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

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::applyRejection(), pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), and pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::clusterCorrespondences().

◆ getSaveInliers()

template<typename PointT >

bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getSaveInliers ( )

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()

template<typename PointT >

bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::requiresSourcePoints ( ) const

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()

template<typename PointT >

bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::requiresTargetPoints ( ) const

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()

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 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()

template<typename PointT >

virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputSource ( const PointCloudConstPtr & cloud )

inlinevirtual

Provide a source point cloud dataset (must contain XYZ data!)

Parameters

[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()

template<typename PointT >

virtual void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setInputTarget ( const PointCloudConstPtr & cloud )

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()

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 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()

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 210 of file correspondence_rejection_sample_consensus.h.

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

◆ setSaveInliers()

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 237 of file correspondence_rejection_sample_consensus.h.

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

◆ setSourcePoints()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

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()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::setTargetPoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

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_

template<typename PointT >

Eigen::Matrix4f pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::best_transformation_

protected

Definition at line 267 of file correspondence_rejection_sample_consensus.h.

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

◆ inlier_indices_

template<typename PointT >

pcl::Indices pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_indices_

protected

Definition at line 270 of file correspondence_rejection_sample_consensus.h.

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

◆ inlier_threshold_

template<typename PointT >

double pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::inlier_threshold_

protected

Definition at line 259 of file correspondence_rejection_sample_consensus.h.

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

◆ input_

template<typename PointT >

PointCloudConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_

protected

Definition at line 263 of file correspondence_rejection_sample_consensus.h.

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

◆ input_correspondences_

template<typename PointT >

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::input_correspondences_

The input correspondences.

Definition at line 200 of file correspondence_rejection.h.

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

◆ input_transformed_

template<typename PointT >

PointCloudPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_transformed_

protected

Definition at line 264 of file correspondence_rejection_sample_consensus.h.

◆ max_iterations_

template<typename PointT >

int pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::max_iterations_

protected

Definition at line 261 of file correspondence_rejection_sample_consensus.h.

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

◆ refine_

template<typename PointT >

bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::refine_

protected

Definition at line 269 of file correspondence_rejection_sample_consensus.h.

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

◆ rejection_name_

template<typename PointT >

std::string pcl::registration::CorrespondenceRejector::rejection_name_

The name of the rejection method.

Definition at line 197 of file correspondence_rejection.h.

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

◆ save_inliers_

template<typename PointT >

bool pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::save_inliers_

protected

Definition at line 271 of file correspondence_rejection_sample_consensus.h.

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

◆ target_

template<typename PointT >

PointCloudConstPtr pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::target_

protected

Definition at line 265 of file correspondence_rejection_sample_consensus.h.

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

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CorrespondenceRejectorSampleConsensus()

◆ ~CorrespondenceRejectorSampleConsensus()

Member Function Documentation

◆ applyRejection()

◆ getBestTransformation()

◆ getClassName()

◆ getInliersIndices()

◆ getInlierThreshold()

◆ getInputSource()

◆ getInputTarget()

◆ getMaximumIterations()

◆ getRefineModel()

◆ getRemainingCorrespondences()

◆ getSaveInliers()

◆ requiresSourcePoints()

◆ requiresTargetPoints()

◆ setInlierThreshold()

◆ setInputSource()

◆ setInputTarget()

◆ setMaximumIterations()

◆ setRefineModel()

◆ setSaveInliers()

◆ setSourcePoints()

◆ setTargetPoints()

Member Data Documentation

◆ best_transformation_

◆ inlier_indices_

◆ inlier_threshold_

◆ input_

◆ input_correspondences_

◆ input_transformed_

◆ max_iterations_

◆ refine_

◆ rejection_name_

◆ save_inliers_

◆ target_