SampleConsensusPrerejective correspondences

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SampleConsensusPrerejective correspondences

Humam
Can I get the valid correspondences of the SampleConsensusPrerejective after
doing the alignment? I want them because I want to use them as an input to
LUM



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Re: SampleConsensusPrerejective correspondences

MarkL
You can use:
const std::vector
<http://docs.pointclouds.org/trunk/classpcl_1_1_sample_consensus_prerejective.html#a0ea69998d5ca760168b83835cf55b772>
<int>& pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT
>::getInliers() const





Humam wrote

> Can I get the valid correspondences of the SampleConsensusPrerejective
> after
> doing the alignment? I want them because I want to use them as an input to
> LUM
>
>
>
> --
> Sent from: http://www.pcl-users.org/
> _______________________________________________

> PCL-users@

>  / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users





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Re: SampleConsensusPrerejective correspondences

Humam
Thank you very much. Just to be sure:
v[5]=10
This mean that the 5th point of the source is related with the 10th point of the target or the opposite is true?

On Wed, Sep 27, 2017 at 9:14 AM, MarkL <[hidden email]> wrote:
You can use:
const std::vector
<http://docs.pointclouds.org/trunk/classpcl_1_1_sample_consensus_prerejective.html#a0ea69998d5ca760168b83835cf55b772>
<int>& pcl::SampleConsensusPrerejective< PointSource, PointTarget, FeatureT
>::getInliers() const





Humam wrote
> Can I get the valid correspondences of the SampleConsensusPrerejective
> after
> doing the alignment? I want them because I want to use them as an input to
> LUM
>
>
>
> --
> Sent from: http://www.pcl-users.org/
> _______________________________________________

> PCL-users@



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Re: SampleConsensusPrerejective correspondences

MarkL
Sorry, I didn't notice that you asked about the actual correspondence.

getInliers() only specifies *which* points have a *valid* correspondence.
So v[5]=10, just means that point with index 10 has a valid correspondence.

To get the actual mapping, you need to either:

1) Calculate manually
For each of the Inliers, use  KdTree
<http://pointclouds.org/documentation/tutorials/kdtree_search.php>  to find
it's match.

2) Use  CorrespondenceEstimation
<http://docs.pointclouds.org/1.7.0/classpcl_1_1registration_1_1_correspondence_estimation.html#details>  
There is a usage example in the link.
It will return a vector of  correspondences
<http://docs.pointclouds.org/trunk/structpcl_1_1_correspondence.html>  .


Humam wrote
> Thank you very much. Just to be sure:
> v[5]=10
> This mean that the 5th point of the source is related with the 10th point
> of the target or the opposite is true?
>
> On Wed, Sep 27, 2017 at 9:14 AM, MarkL &lt;

> Mark.Loyman@

> &gt; wrote:
>
>> You can use:
>> const std::vector
>> &lt;http://docs.pointclouds.org/trunk/classpcl_1_1_sample_
> &gt; consensus_prerejective.html#a0ea69998d5ca760168b83835cf55b772>
>>
> <int>
> & pcl::SampleConsensusPrerejective< PointSource, PointTarget,
>> FeatureT
>> >::getInliers() const
>>
>>
>> Humam wrote
>> > Can I get the valid correspondences of the SampleConsensusPrerejective
>> > after
>> > doing the alignment? I want them because I want to use them as an input
>> to
>> > LUM
> _______________________________________________

> PCL-users@

>  / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users





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