Pose estimation and alignment class using a prerejective RANSAC routine. More...

#include <pcl/registration/sample_consensus_prerejective.h>

Inheritance diagram for pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >:

Collaboration diagram for pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >:

Public Types
using	Matrix4 = typename Registration< PointSource, PointTarget >::Matrix4

using	PointCloudSource = typename Registration< PointSource, PointTarget >::PointCloudSource

using	PointCloudSourcePtr = typename PointCloudSource::Ptr

using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using	PointCloudTarget = typename Registration< PointSource, PointTarget >::PointCloudTarget

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

using	FeatureCloud = pcl::PointCloud< FeatureT >

using	FeatureCloudPtr = typename FeatureCloud::Ptr

using	FeatureCloudConstPtr = typename FeatureCloud::ConstPtr

using	Ptr = shared_ptr< SampleConsensusPrerejective< PointSource, PointTarget, FeatureT > >

using	ConstPtr = shared_ptr< const SampleConsensusPrerejective< PointSource, PointTarget, FeatureT > >

using	FeatureKdTreePtr = typename KdTreeFLANN< FeatureT >::Ptr

using	CorrespondenceRejectorPoly = pcl::registration::CorrespondenceRejectorPoly< PointSource, PointTarget >

using	CorrespondenceRejectorPolyPtr = typename CorrespondenceRejectorPoly::Ptr

using	CorrespondenceRejectorPolyConstPtr = typename CorrespondenceRejectorPoly::ConstPtr

Public Types inherited from pcl::Registration< PointSource, PointTarget, Scalar >
using	Matrix4 = Eigen::Matrix< Scalar, 4, 4 >

using	Ptr = shared_ptr< Registration< PointSource, PointTarget, Scalar > >

using	ConstPtr = shared_ptr< const Registration< PointSource, PointTarget, Scalar > >

using	CorrespondenceRejectorPtr = pcl::registration::CorrespondenceRejector::Ptr

using	KdTree = pcl::search::KdTree< PointTarget >

using	KdTreePtr = typename KdTree::Ptr

using	KdTreeReciprocal = pcl::search::KdTree< PointSource >

using	KdTreeReciprocalPtr = typename KdTreeReciprocal::Ptr

using	PointCloudSource = pcl::PointCloud< PointSource >

using	PointCloudSourcePtr = typename PointCloudSource::Ptr

using	PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

using	PointCloudTarget = pcl::PointCloud< PointTarget >

using	PointCloudTargetPtr = typename PointCloudTarget::Ptr

using	PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr

using	PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr

using	TransformationEstimation = typename pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar >

using	TransformationEstimationPtr = typename TransformationEstimation::Ptr

using	TransformationEstimationConstPtr = typename TransformationEstimation::ConstPtr

using	CorrespondenceEstimation = pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >

using	CorrespondenceEstimationPtr = typename CorrespondenceEstimation::Ptr

using	CorrespondenceEstimationConstPtr = typename CorrespondenceEstimation::ConstPtr

using	UpdateVisualizerCallbackSignature = void(const pcl::PointCloud< PointSource > &, const pcl::Indices &, const pcl::PointCloud< PointTarget > &, const pcl::Indices &)
	The callback signature to the function updating intermediate source point cloud position during it's registration to the target point cloud. More...

Public Types inherited from pcl::PCLBase< PointSource >
using	PointCloud = pcl::PointCloud< PointSource >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	SampleConsensusPrerejective ()
	Constructor. More...

	~SampleConsensusPrerejective () override=default
	Destructor. More...

void	setSourceFeatures (const FeatureCloudConstPtr &features)
	Provide a boost shared pointer to the source point cloud's feature descriptors. More...

const FeatureCloudConstPtr	getSourceFeatures () const
	Get a pointer to the source point cloud's features. More...

void	setTargetFeatures (const FeatureCloudConstPtr &features)
	Provide a boost shared pointer to the target point cloud's feature descriptors. More...

const FeatureCloudConstPtr	getTargetFeatures () const
	Get a pointer to the target point cloud's features. More...

void	setNumberOfSamples (int nr_samples)
	Set the number of samples to use during each iteration. More...

int	getNumberOfSamples () const
	Get the number of samples to use during each iteration, as set by the user. More...

void	setCorrespondenceRandomness (int k)
	Set the number of neighbors to use when selecting a random feature correspondence. More...

int	getCorrespondenceRandomness () const
	Get the number of neighbors used when selecting a random feature correspondence, as set by the user. More...

void	setSimilarityThreshold (float similarity_threshold)
	Set the similarity threshold in [0,1[ between edge lengths of the underlying polygonal correspondence rejector object, where 1 is a perfect match. More...

float	getSimilarityThreshold () const
	Get the similarity threshold between edge lengths of the underlying polygonal correspondence rejector object,. More...

void	setInlierFraction (float inlier_fraction)
	Set the required inlier fraction (of the input) More...

float	getInlierFraction () const
	Get the required inlier fraction. More...

const pcl::Indices &	getInliers () const
	Get the inlier indices of the source point cloud under the final transformation. More...

Public Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
	Registration ()
	Empty constructor. More...

	~Registration () override=default
	destructor. More...

void	setTransformationEstimation (const TransformationEstimationPtr &te)
	Provide a pointer to the transformation estimation object. More...

void	setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce)
	Provide a pointer to the correspondence estimation object. More...

virtual void	setInputSource (const PointCloudSourceConstPtr &cloud)
	Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...

PointCloudSourceConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target. More...

virtual void	setInputTarget (const PointCloudTargetConstPtr &cloud)
	Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More...

PointCloudTargetConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target. More...

void	setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

KdTreePtr	getSearchMethodTarget () const
	Get a pointer to the search method used to find correspondences in the target cloud. More...

void	setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More...

KdTreeReciprocalPtr	getSearchMethodSource () const
	Get a pointer to the search method used to find correspondences in the source cloud. More...

Matrix4	getFinalTransformation ()
	Get the final transformation matrix estimated by the registration method. More...

Matrix4	getLastIncrementalTransformation ()
	Get the last incremental transformation matrix estimated by the registration method. More...

void	setMaximumIterations (int nr_iterations)
	Set the maximum number of iterations the internal optimization should run for. More...

int	getMaximumIterations ()
	Get the maximum number of iterations the internal optimization should run for, as set by the user. More...

void	setRANSACIterations (int ransac_iterations)
	Set the number of iterations RANSAC should run for. More...

double	getRANSACIterations ()
	Get the number of iterations RANSAC should run for, as set by the user. More...

void	setRANSACOutlierRejectionThreshold (double inlier_threshold)
	Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More...

double	getRANSACOutlierRejectionThreshold ()
	Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More...

void	setMaxCorrespondenceDistance (double distance_threshold)
	Set the maximum distance threshold between two correspondent points in source <-> target. More...

double	getMaxCorrespondenceDistance ()
	Get the maximum distance threshold between two correspondent points in source <-> target. More...

void	setTransformationEpsilon (double epsilon)
	Set the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...

double	getTransformationEpsilon ()
	Get the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) as set by the user. More...

void	setTransformationRotationEpsilon (double epsilon)
	Set the transformation rotation epsilon (maximum allowable rotation difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...

double	getTransformationRotationEpsilon ()
	Get the transformation rotation epsilon (maximum allowable difference between two consecutive transformations) as set by the user (epsilon is the cos(angle) in a axis-angle representation). More...

void	setEuclideanFitnessEpsilon (double epsilon)
	Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...

double	getEuclideanFitnessEpsilon ()
	Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More...

void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More...

bool	registerVisualizationCallback (std::function< UpdateVisualizerCallbackSignature > &visualizerCallback)
	Register the user callback function which will be called from registration thread in order to update point cloud obtained after each iteration. More...

double	getFitnessScore (double max_range=std::numeric_limits< double >::max())
	Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) More...

double	getFitnessScore (const std::vector< float > &distances_a, const std::vector< float > &distances_b)
	Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) from two sets of correspondence distances (distances between source and target points) More...

bool	hasConverged () const
	Return the state of convergence after the last align run. More...

void	align (PointCloudSource &output)
	Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...

void	align (PointCloudSource &output, const Matrix4 &guess)
	Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...

const std::string &	getClassName () const
	Abstract class get name method. More...

bool	initCompute ()
	Internal computation initialization. More...

bool	initComputeReciprocal ()
	Internal computation when reciprocal lookup is needed. More...

void	addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector)
	Add a new correspondence rejector to the list. More...

std::vector< CorrespondenceRejectorPtr >	getCorrespondenceRejectors ()
	Get the list of correspondence rejectors. More...

bool	removeCorrespondenceRejector (unsigned int i)
	Remove the i-th correspondence rejector in the list. More...

void	clearCorrespondenceRejectors ()
	Clear the list of correspondence rejectors. More...

Public Member Functions inherited from pcl::PCLBase< PointSource >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointSource &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
int	getRandomIndex (int n) const
	Choose a random index between 0 and n-1. More...

void	selectSamples (const PointCloudSource &cloud, int nr_samples, pcl::Indices &sample_indices)
	Select nr_samples sample points from cloud while making sure that their pairwise distances are greater than a user-defined minimum distance, min_sample_distance. More...

void	findSimilarFeatures (const pcl::Indices &sample_indices, std::vector< pcl::Indices > &similar_features, pcl::Indices &corresponding_indices)
	For each of the sample points, find a list of points in the target cloud whose features are similar to the sample points' features. More...

void	computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess) override
	Rigid transformation computation method. More...

void	getFitness (pcl::Indices &inliers, float &fitness_score)
	Obtain the fitness of a transformation The following metrics are calculated, based on final_transformation_ and corr_dist_threshold_: More...

Protected Member Functions inherited from pcl::Registration< PointSource, PointTarget, Scalar >
bool	searchForNeighbors (const PointCloudSource &cloud, int index, pcl::Indices &indices, std::vector< float > &distances)
	Search for the closest nearest neighbor of a given point. More...

virtual void	computeTransformation (PointCloudSource &output, const Matrix4 &guess)=0
	Abstract transformation computation method with initial guess. More...

Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
FeatureCloudConstPtr	input_features_
	The source point cloud's feature descriptors. More...

FeatureCloudConstPtr	target_features_
	The target point cloud's feature descriptors. More...

int	nr_samples_ {3}
	The number of samples to use during each iteration. More...

int	k_correspondences_ {2}
	The number of neighbors to use when selecting a random feature correspondence. More...

FeatureKdTreePtr	feature_tree_
	The KdTree used to compare feature descriptors. More...

CorrespondenceRejectorPolyPtr	correspondence_rejector_poly_
	The polygonal correspondence rejector used for prerejection. More...

float	inlier_fraction_ {0.0f}
	The fraction [0,1] of inlier points required for accepting a transformation. More...

pcl::Indices	inliers_
	Inlier points of final transformation as indices into source. More...

Protected Attributes inherited from pcl::Registration< PointSource, PointTarget, Scalar >
std::string	reg_name_
	The registration method name. More...

KdTreePtr	tree_
	A pointer to the spatial search object. More...

KdTreeReciprocalPtr	tree_reciprocal_
	A pointer to the spatial search object of the source. More...

int	nr_iterations_ {0}
	The number of iterations the internal optimization ran for (used internally). More...

int	max_iterations_ {10}
	The maximum number of iterations the internal optimization should run for. More...

int	ransac_iterations_ {0}
	The number of iterations RANSAC should run for. More...

PointCloudTargetConstPtr	target_
	The input point cloud dataset target. More...

Matrix4	final_transformation_
	The final transformation matrix estimated by the registration method after N iterations. More...

Matrix4	transformation_
	The transformation matrix estimated by the registration method. More...

Matrix4	previous_transformation_
	The previous transformation matrix estimated by the registration method (used internally). More...

double	transformation_epsilon_ {0.0}
	The maximum difference between two consecutive transformations in order to consider convergence (user defined). More...

double	transformation_rotation_epsilon_ {0.0}
	The maximum rotation difference between two consecutive transformations in order to consider convergence (user defined). More...

double	euclidean_fitness_epsilon_
	The maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...

double	corr_dist_threshold_
	The maximum distance threshold between two correspondent points in source <-> target. More...

double	inlier_threshold_ {0.05}
	The inlier distance threshold for the internal RANSAC outlier rejection loop. More...

bool	converged_ {false}
	Holds internal convergence state, given user parameters. More...

unsigned int	min_number_correspondences_ {3}
	The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. More...

CorrespondencesPtr	correspondences_
	The set of correspondences determined at this ICP step. More...

TransformationEstimationPtr	transformation_estimation_
	A TransformationEstimation object, used to calculate the 4x4 rigid transformation. More...

CorrespondenceEstimationPtr	correspondence_estimation_
	A CorrespondenceEstimation object, used to estimate correspondences between the source and the target cloud. More...

std::vector< CorrespondenceRejectorPtr >	correspondence_rejectors_
	The list of correspondence rejectors to use. More...

bool	target_cloud_updated_ {true}
	Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More...

bool	source_cloud_updated_ {true}
	Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More...

bool	force_no_recompute_ {false}
	A flag which, if set, means the tree operating on the target cloud will never be recomputed. More...

bool	force_no_recompute_reciprocal_ {false}
	A flag which, if set, means the tree operating on the source cloud will never be recomputed. More...

std::function< UpdateVisualizerCallbackSignature >	update_visualizer_
	Callback function to update intermediate source point cloud position during it's registration to the target point cloud. More...

Protected Attributes inherited from pcl::PCLBase< PointSource >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointSource, typename PointTarget, typename FeatureT>
class pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >

Pose estimation and alignment class using a prerejective RANSAC routine.

This class inserts a simple, yet effective "prerejection" step into the standard RANSAC pose estimation loop in order to avoid verification of pose hypotheses that are likely to be wrong. This is achieved by local pose-invariant geometric constraints, as also implemented in the class CorrespondenceRejectorPoly.

In order to robustly align partial/occluded models, this routine performs fit error evaluation using only inliers, i.e. points closer than a Euclidean threshold, which is specifiable using setInlierFraction().

The amount of prerejection or "greedyness" of the algorithm can be specified using setSimilarityThreshold() in [0,1[, where a value of 0 means disabled, and 1 is maximally rejective.

If you use this in academic work, please cite:

A. G. Buch, D. Kraft, J.-K. Kämäräinen, H. G. Petersen and N. Krüger. Pose Estimation using Local Structure-Specific Shape and Appearance Context. International Conference on Robotics and Automation (ICRA), 2013.

Author: Anders Glent Buch (ander.nosp@m.sgb1.nosp@m.@gmai.nosp@m.l.co.nosp@m.m)

Definition at line 75 of file sample_consensus_prerejective.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::ConstPtr = shared_ptr<const SampleConsensusPrerejective<PointSource, PointTarget, FeatureT> >

Definition at line 109 of file sample_consensus_prerejective.h.

◆ CorrespondenceRejectorPoly

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::CorrespondenceRejectorPoly = pcl::registration::CorrespondenceRejectorPoly<PointSource, PointTarget>

Definition at line 114 of file sample_consensus_prerejective.h.

◆ CorrespondenceRejectorPolyConstPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::CorrespondenceRejectorPolyConstPtr = typename CorrespondenceRejectorPoly::ConstPtr

Definition at line 117 of file sample_consensus_prerejective.h.

◆ CorrespondenceRejectorPolyPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::CorrespondenceRejectorPolyPtr = typename CorrespondenceRejectorPoly::Ptr

Definition at line 116 of file sample_consensus_prerejective.h.

◆ FeatureCloud

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::FeatureCloud = pcl::PointCloud<FeatureT>

Definition at line 103 of file sample_consensus_prerejective.h.

◆ FeatureCloudConstPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::FeatureCloudConstPtr = typename FeatureCloud::ConstPtr

Definition at line 105 of file sample_consensus_prerejective.h.

◆ FeatureCloudPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::FeatureCloudPtr = typename FeatureCloud::Ptr

Definition at line 104 of file sample_consensus_prerejective.h.

◆ FeatureKdTreePtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::FeatureKdTreePtr = typename KdTreeFLANN<FeatureT>::Ptr

Definition at line 112 of file sample_consensus_prerejective.h.

◆ Matrix4

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::Matrix4 = typename Registration<PointSource, PointTarget>::Matrix4

Definition at line 77 of file sample_consensus_prerejective.h.

◆ PointCloudSource

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::PointCloudSource = typename Registration<PointSource, PointTarget>::PointCloudSource

Definition at line 92 of file sample_consensus_prerejective.h.

◆ PointCloudSourceConstPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr

Definition at line 95 of file sample_consensus_prerejective.h.

◆ PointCloudSourcePtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::PointCloudSourcePtr = typename PointCloudSource::Ptr

Definition at line 94 of file sample_consensus_prerejective.h.

◆ PointCloudTarget

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::PointCloudTarget = typename Registration<PointSource, PointTarget>::PointCloudTarget

Definition at line 97 of file sample_consensus_prerejective.h.

◆ PointIndicesConstPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 101 of file sample_consensus_prerejective.h.

◆ PointIndicesPtr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::PointIndicesPtr = PointIndices::Ptr

Definition at line 100 of file sample_consensus_prerejective.h.

◆ Ptr

template<typename PointSource , typename PointTarget , typename FeatureT >

using pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::Ptr = shared_ptr<SampleConsensusPrerejective<PointSource, PointTarget, FeatureT> >

Definition at line 107 of file sample_consensus_prerejective.h.

Constructor & Destructor Documentation

◆ SampleConsensusPrerejective()

template<typename PointSource , typename PointTarget , typename FeatureT >

pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::SampleConsensusPrerejective ( )

inline

Constructor.

Definition at line 121 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::correspondence_rejector_poly_, pcl::Registration< PointSource, PointTarget, Scalar >::max_iterations_, pcl::Registration< PointSource, PointTarget, Scalar >::reg_name_, and pcl::Registration< PointSource, PointTarget, Scalar >::transformation_estimation_.

◆ ~SampleConsensusPrerejective()

template<typename PointSource , typename PointTarget , typename FeatureT >

pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::~SampleConsensusPrerejective ( )

overridedefault

Destructor.

Member Function Documentation

◆ computeTransformation()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::computeTransformation	(	PointCloudSource &	output,
		const Eigen::Matrix4f &	guess
	)

overrideprotected

Rigid transformation computation method.

Parameters

output	the transformed input point cloud dataset using the rigid transformation found
guess	The computed transformation

Definition at line 154 of file sample_consensus_prerejective.hpp.

References pcl::transformPointCloud().

◆ findSimilarFeatures()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::findSimilarFeatures	(	const pcl::Indices &	sample_indices,
		std::vector< pcl::Indices > &	similar_features,
		pcl::Indices &	corresponding_indices
	)

protected

For each of the sample points, find a list of points in the target cloud whose features are similar to the sample points' features.

From these, select one randomly which will be considered that sample point's correspondence.

Parameters

sample_indices	the indices of each sample point
similar_features	correspondence cache, which is used to read/write already computed correspondences
corresponding_indices	the resulting indices of each sample's corresponding point in the target cloud

Definition at line 120 of file sample_consensus_prerejective.hpp.

◆ getCorrespondenceRandomness()

template<typename PointSource , typename PointTarget , typename FeatureT >

int pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getCorrespondenceRandomness ( ) const

inline

Get the number of neighbors used when selecting a random feature correspondence, as set by the user.

Definition at line 194 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::k_correspondences_.

◆ getFitness()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getFitness	(	pcl::Indices &	inliers,
		float &	fitness_score
	)

protected

Obtain the fitness of a transformation The following metrics are calculated, based on final_transformation_ and corr_dist_threshold_:

Inliers: the number of transformed points which are closer than threshold to NN
Error score: the MSE of the inliers
Parameters

inliers indices of source point cloud inliers

fitness_score output fitness score as RMSE

Definition at line 307 of file sample_consensus_prerejective.hpp.

References pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::transformPointCloud().

◆ getInlierFraction()

template<typename PointSource , typename PointTarget , typename FeatureT >

float pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getInlierFraction ( ) const

inline

Get the required inlier fraction.

Returns: required inlier fraction in [0,1]

Definition at line 231 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::inlier_fraction_.

◆ getInliers()

template<typename PointSource , typename PointTarget , typename FeatureT >

const pcl::Indices& pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getInliers ( ) const

inline

Get the inlier indices of the source point cloud under the final transformation.

Returns: inlier indices

Definition at line 241 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::inliers_.

◆ getNumberOfSamples()

template<typename PointSource , typename PointTarget , typename FeatureT >

int pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getNumberOfSamples ( ) const

inline

Get the number of samples to use during each iteration, as set by the user.

Definition at line 175 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::nr_samples_.

◆ getRandomIndex()

template<typename PointSource , typename PointTarget , typename FeatureT >

int pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getRandomIndex ( int n ) const

inlineprotected

Choose a random index between 0 and n-1.

Parameters

n	the number of possible indices to choose from

Definition at line 251 of file sample_consensus_prerejective.h.

◆ getSimilarityThreshold()

template<typename PointSource , typename PointTarget , typename FeatureT >

float pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getSimilarityThreshold ( ) const

inline

Get the similarity threshold between edge lengths of the underlying polygonal correspondence rejector object,.

Returns: edge length similarity threshold

Definition at line 213 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::correspondence_rejector_poly_.

◆ getSourceFeatures()

template<typename PointSource , typename PointTarget , typename FeatureT >

const FeatureCloudConstPtr pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getSourceFeatures ( ) const

inline

Get a pointer to the source point cloud's features.

Definition at line 145 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::input_features_.

◆ getTargetFeatures()

template<typename PointSource , typename PointTarget , typename FeatureT >

const FeatureCloudConstPtr pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getTargetFeatures ( ) const

inline

Get a pointer to the target point cloud's features.

Definition at line 158 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::target_features_.

◆ selectSamples()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::selectSamples	(	const PointCloudSource &	cloud,
		int	nr_samples,
		pcl::Indices &	sample_indices
	)

protected

Select nr_samples sample points from cloud while making sure that their pairwise distances are greater than a user-defined minimum distance, min_sample_distance.

Parameters

cloud	the input point cloud
nr_samples	the number of samples to select
sample_indices	the resulting sample indices

Definition at line 77 of file sample_consensus_prerejective.hpp.

References pcl::PointCloud< PointT >::size().

◆ setCorrespondenceRandomness()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setCorrespondenceRandomness ( int k )

inline

Set the number of neighbors to use when selecting a random feature correspondence.

A higher value will add more randomness to the feature matching.

Parameters

k	the number of neighbors to use when selecting a random feature correspondence.

Definition at line 186 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::k_correspondences_.

◆ setInlierFraction()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setInlierFraction ( float inlier_fraction )

inline

Set the required inlier fraction (of the input)

Parameters

inlier_fraction required inlier fraction, must be in [0,1]

Definition at line 222 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::inlier_fraction_.

◆ setNumberOfSamples()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setNumberOfSamples ( int nr_samples )

inline

Set the number of samples to use during each iteration.

Parameters

nr_samples the number of samples to use during each iteration

Definition at line 167 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::nr_samples_.

◆ setSimilarityThreshold()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setSimilarityThreshold ( float similarity_threshold )

inline

Set the similarity threshold in [0,1[ between edge lengths of the underlying polygonal correspondence rejector object, where 1 is a perfect match.

Parameters

similarity_threshold edge length similarity threshold

Definition at line 204 of file sample_consensus_prerejective.h.

References pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::correspondence_rejector_poly_.

◆ setSourceFeatures()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setSourceFeatures ( const FeatureCloudConstPtr & features )

Provide a boost shared pointer to the source point cloud's feature descriptors.

Parameters

features the source point cloud's features

Definition at line 48 of file sample_consensus_prerejective.hpp.

◆ setTargetFeatures()

template<typename PointSource , typename PointTarget , typename FeatureT >

void pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setTargetFeatures ( const FeatureCloudConstPtr & features )

Provide a boost shared pointer to the target point cloud's feature descriptors.

Parameters

features the target point cloud's features

Definition at line 62 of file sample_consensus_prerejective.hpp.

Member Data Documentation

◆ correspondence_rejector_poly_

template<typename PointSource , typename PointTarget , typename FeatureT >

CorrespondenceRejectorPolyPtr pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::correspondence_rejector_poly_

protected

The polygonal correspondence rejector used for prerejection.

Definition at line 315 of file sample_consensus_prerejective.h.

Referenced by pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getSimilarityThreshold(), pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::SampleConsensusPrerejective(), and pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setSimilarityThreshold().

◆ feature_tree_

template<typename PointSource , typename PointTarget , typename FeatureT >

FeatureKdTreePtr pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::feature_tree_

protected

The KdTree used to compare feature descriptors.

Definition at line 312 of file sample_consensus_prerejective.h.

◆ inlier_fraction_

template<typename PointSource , typename PointTarget , typename FeatureT >

float pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::inlier_fraction_ {0.0f}

protected

The fraction [0,1] of inlier points required for accepting a transformation.

Definition at line 319 of file sample_consensus_prerejective.h.

Referenced by pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getInlierFraction(), and pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setInlierFraction().

◆ inliers_

template<typename PointSource , typename PointTarget , typename FeatureT >

pcl::Indices pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::inliers_

protected

Inlier points of final transformation as indices into source.

Definition at line 322 of file sample_consensus_prerejective.h.

Referenced by pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getInliers().

◆ input_features_

template<typename PointSource , typename PointTarget , typename FeatureT >

FeatureCloudConstPtr pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::input_features_

protected

The source point cloud's feature descriptors.

Definition at line 299 of file sample_consensus_prerejective.h.

Referenced by pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getSourceFeatures().

◆ k_correspondences_

template<typename PointSource , typename PointTarget , typename FeatureT >

int pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::k_correspondences_ {2}

protected

The number of neighbors to use when selecting a random feature correspondence.

Definition at line 309 of file sample_consensus_prerejective.h.

Referenced by pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getCorrespondenceRandomness(), and pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setCorrespondenceRandomness().

◆ nr_samples_

template<typename PointSource , typename PointTarget , typename FeatureT >

int pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::nr_samples_ {3}

protected

The number of samples to use during each iteration.

Definition at line 305 of file sample_consensus_prerejective.h.

Referenced by pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getNumberOfSamples(), and pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::setNumberOfSamples().

◆ target_features_

template<typename PointSource , typename PointTarget , typename FeatureT >

FeatureCloudConstPtr pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::target_features_

protected

The target point cloud's feature descriptors.

Definition at line 302 of file sample_consensus_prerejective.h.

Referenced by pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >::getTargetFeatures().

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

pcl/registration/sample_consensus_prerejective.h
pcl/registration/impl/sample_consensus_prerejective.hpp

inliers	indices of source point cloud inliers
fitness_score	output fitness score as RMSE

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointSource, typename PointTarget, typename FeatureT> class pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >

Member Typedef Documentation

◆ ConstPtr

◆ CorrespondenceRejectorPoly

◆ CorrespondenceRejectorPolyConstPtr

◆ CorrespondenceRejectorPolyPtr

◆ FeatureCloud

◆ FeatureCloudConstPtr

◆ FeatureCloudPtr

◆ FeatureKdTreePtr

◆ Matrix4

◆ PointCloudSource

◆ PointCloudSourceConstPtr

◆ PointCloudSourcePtr

◆ PointCloudTarget

◆ PointIndicesConstPtr

◆ PointIndicesPtr

◆ Ptr

Constructor & Destructor Documentation

◆ SampleConsensusPrerejective()

◆ ~SampleConsensusPrerejective()

Member Function Documentation

◆ computeTransformation()

◆ findSimilarFeatures()

◆ getCorrespondenceRandomness()

◆ getFitness()

◆ getInlierFraction()

◆ getInliers()

◆ getNumberOfSamples()

◆ getRandomIndex()

◆ getSimilarityThreshold()

◆ getSourceFeatures()

◆ getTargetFeatures()

◆ selectSamples()

◆ setCorrespondenceRandomness()

◆ setInlierFraction()

◆ setNumberOfSamples()

◆ setSimilarityThreshold()

◆ setSourceFeatures()

◆ setTargetFeatures()

Member Data Documentation

◆ correspondence_rejector_poly_

◆ feature_tree_

◆ inlier_fraction_

◆ inliers_

◆ input_features_

◆ k_correspondences_

◆ nr_samples_

◆ target_features_

template<typename PointSource, typename PointTarget, typename FeatureT>
class pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT >