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 >:

Collaboration diagram for pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >:

Public Types
using	Ptr = shared_ptr< CorrespondenceRejectorSampleConsensus2D< PointT > >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorSampleConsensus2D< PointT > >

Public Types inherited from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >
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
	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...

	~CorrespondenceRejectorSampleConsensus () override=default
	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 override
	See if this rejector requires source points. More...

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

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

void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) override
	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 (pcl::Indices &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...

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

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

virtual	~CorrespondenceRejector ()=default
	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, 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. 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_ {0.05}

int	max_iterations_ {1000}

PointCloudConstPtr	input_

PointCloudPtr	input_transformed_

PointCloudConstPtr	target_

Eigen::Matrix4f	best_transformation_

bool	refine_ {false}

pcl::Indices	inlier_indices_

bool	save_inliers_ {false}

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...

Additional Inherited Members
Public Attributes inherited from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >
CorrespondencesConstPtr	input_correspondences_
	The input correspondences. More...

std::string	rejection_name_
	The name of the rejection method. 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 53 of file correspondence_rejection_sample_consensus_2d.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::ConstPtr = shared_ptr<const CorrespondenceRejectorSampleConsensus2D<PointT> >

Definition at line 71 of file correspondence_rejection_sample_consensus_2d.h.

◆ Ptr

template<typename PointT >

using pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::Ptr = shared_ptr<CorrespondenceRejectorSampleConsensus2D<PointT> >

Definition at line 70 of file correspondence_rejection_sample_consensus_2d.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorSampleConsensus2D()

template<typename PointT >

pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::CorrespondenceRejectorSampleConsensus2D ( )

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_2d.h.

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

Member Function Documentation

◆ applyRejection()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::applyRejection ( pcl::Correspondences & correspondences )

inlineprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.

Definition at line 145 of file correspondence_rejection_sample_consensus_2d.h.

References pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::input_correspondences_.

◆ getCameraCenters()

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]	cx	the x-coordinate of the camera center
[out]	cy	the y-coordinate of the camera center

Definition at line 134 of file correspondence_rejection_sample_consensus_2d.h.

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

◆ getFocalLengths()

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]	fx	the focal length in pixels along the x-axis of the image
[out]	fy	the focal length in pixels along the y-axis of the image

Definition at line 112 of file correspondence_rejection_sample_consensus_2d.h.

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

◆ getRemainingCorrespondences()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)

inlinevirtual

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

Reimplemented from pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >.

Definition at line 53 of file correspondence_rejection_sample_consensus_2d.hpp.

References pcl::RandomSampleConsensus< PointT >::computeModel(), pcl::SampleConsensus< T >::getInliers(), pcl::SampleConsensus< T >::getModelCoefficients(), pcl::SampleConsensus< T >::refineModel(), pcl::SampleConsensusModelRegistration< PointT >::setInputTarget(), pcl::SampleConsensus< T >::setMaxIterations(), and pcl::SampleConsensusModelRegistration2D< PointT >::setProjectionMatrix().

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