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;
102 PCL_DEPRECATED (
virtual void setInputCloud (
const PointCloudConstPtr &cloud),
103 "[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
106 PCL_DEPRECATED (PointCloudConstPtr
const getInputCloud (),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");
118 inline PointCloudConstPtr
const
124 PCL_DEPRECATED (
virtual void setTargetCloud (
const PointCloudConstPtr &cloud),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.");
133 inline PointCloudConstPtr
const
152 PCL_DEPRECATED (
void setMaxIterations (
int max_iterations),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.");
163 PCL_DEPRECATED (
int getMaxIterations (),
"[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.");
174 inline Eigen::Matrix4f
215 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
220 #include <pcl/registration/impl/correspondence_rejection_sample_consensus.hpp>
222 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_H_
double getInlierThreshold()
Get the maximum distance between corresponding points.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloudPtr input_transformed_
boost::shared_ptr< PointCloud< PointT > > Ptr
CorrespondenceRejector represents the base class for correspondence rejection methods ...
virtual ~CorrespondenceRejectorSampleConsensus()
Empty destructor.
CorrespondenceRejectorSampleConsensus()
Empty constructor.
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.
PointCloudConstPtr target_
int getMaximumIterations()
Get the maximum number of iterations.
virtual void setInputTarget(const PointCloudConstPtr &cloud)
Provide a target point cloud dataset (must contain XYZ data!)
void setMaximumIterations(int max_iterations)
Set the maximum number of iterations.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
PointCloudConstPtr const getInputSource()
Get a pointer to the input point cloud dataset target.
void setInlierThreshold(double threshold)
Set the maximum distance between corresponding points.
Eigen::Matrix4f best_transformation_
PointCloudConstPtr input_
CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Conse...
PointCloudConstPtr const getInputTarget()
Get a pointer to the input point cloud dataset target.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
virtual void setInputSource(const PointCloudConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!)
std::string rejection_name_
The name of the rejection method.
boost::shared_ptr< const CorrespondenceRejectorSampleConsensus > ConstPtr
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.
bool getRefineModel() const
Get the internal refine parameter value as set by the user using setRefineModel.
void setRefineModel(const bool refine)
Specify whether the model should be refined internally using the variance of the inliers.
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!)