40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
43 #include <pcl/registration/correspondence_rejection.h>
45 #include <pcl/sample_consensus/ransac.h>
46 #include <pcl/sample_consensus/sac_model_registration.h>
47 #include <pcl/common/transforms.h>
51 namespace registration
58 template <
typename Po
intT>
70 typedef boost::shared_ptr<CorrespondenceRejectorSampleConsensus>
Ptr;
71 typedef boost::shared_ptr<const CorrespondenceRejectorSampleConsensus>
ConstPtr;
103 PCL_DEPRECATED (
virtual void setInputCloud (
const PointCloudConstPtr &cloud),
104 "[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
107 PCL_DEPRECATED (PointCloudConstPtr
const getInputCloud (),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");
119 inline PointCloudConstPtr
const
125 PCL_DEPRECATED (
virtual void setTargetCloud (
const PointCloudConstPtr &cloud),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.");
134 inline PointCloudConstPtr
const
153 PCL_DEPRECATED (
void setMaxIterations (
int max_iterations),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.");
164 PCL_DEPRECATED (
int getMaxIterations (),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.");
175 inline Eigen::Matrix4f
237 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
242 #include <pcl/registration/impl/correspondence_rejection_sample_consensus.hpp>
244 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
CorrespondenceRejectorSampleConsensus()
Empty constructor.
PointCloudConstPtr const getInputSource()
Get a pointer to the input point cloud dataset target.
PointCloudConstPtr target_
virtual void setInputTarget(const PointCloudConstPtr &cloud)
Provide a target point cloud dataset (must contain XYZ data!)
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
boost::shared_ptr< const CorrespondenceRejectorSampleConsensus > ConstPtr
virtual ~CorrespondenceRejectorSampleConsensus()
Empty destructor.
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!)
void getInliersIndices(std::vector< int > &inlier_indices)
Get the inlier indices found by the correspondence rejector.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
CorrespondenceRejector represents the base class for correspondence rejection methods ...
double getInlierThreshold()
Get the maximum distance between corresponding points.
Eigen::Matrix4f best_transformation_
bool getSaveInliers()
Get whether the rejector is configured to save inliers.
void setSaveInliers(bool s)
Set whether to save inliers or not.
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.
void setMaximumIterations(int max_iterations)
Set the maximum number of iterations.
std::vector< int > inlier_indices_
void setRefineModel(const bool refine)
Specify whether the model should be refined internally using the variance of the inliers.
virtual void setInputSource(const PointCloudConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!)
PointCloudPtr input_transformed_
int getMaximumIterations()
Get the maximum number of iterations.
boost::shared_ptr< PointCloud< PointT > > Ptr
const std::string & getClassName() const
Get a string representation of the name of this class.
boost::shared_ptr< CorrespondenceRejectorSampleConsensus > Ptr
Eigen::Matrix4f getBestTransformation()
Get the best transformation after RANSAC rejection.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
PointCloudConstPtr const getInputTarget()
Get a pointer to the input point cloud dataset target.
PointCloudConstPtr input_
void setInlierThreshold(double threshold)
Set the maximum distance between corresponding points.
bool getRefineModel() const
Get the internal refine parameter value as set by the user using setRefineModel.
std::string rejection_name_
The name of the rejection method.