pcl::registration::CorrespondenceRejectorReciprocal Class Reference

#include <correspondence_rejection_reciprocal.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorReciprocal:

Public Member Functions
	CorrespondenceRejectorReciprocal ()
void	getCorrespondences (const pcl::registration::Correspondences &original_correspondences, pcl::registration::Correspondences &remaining_correspondences)
	Get a pointer to the vector of the input correspondences.
float	getDistanceThreshold ()
	Set maximally allowable distance between a correspondence and its reciprocal correspondence.
CorrespondencesConstPtr	getReciprocalCorrespondences ()
	Get a pointer to the vector of the input correspondences.
virtual void	setDistanceThreshold (float threshold)
	Set maximally allowable distance between a correspondence and its reciprocal correspondence.
virtual void	setReciprocalCorrespondences (const CorrespondencesConstPtr &correspondences)
	Provide a pointer to the vector of the input correspondences.
Protected Member Functions
void	applyRejection (pcl::registration::Correspondences &correspondences)
	Abstract rejection method.
Protected Attributes
float	distance_threshold_
CorrespondencesConstPtr	reciprocal_correspondences_
	The reciprocal correspondences.

Detailed Description

CorrespondenceRejectorReciprocal implements a reciprocal correspondence rejection method for ICP-like registration algorithms. Given the correspondences between target and source (reciprocal search), it removes all correspondences, where the target point (match index) has a different corresponding point in the source than the query point (query index) and the difference in distances exceeds a given threshold.

Author:: Dirk Holz

Definition at line 55 of file correspondence_rejection_reciprocal.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorReciprocal::CorrespondenceRejectorReciprocal ( ) [inline]

Definition at line 62 of file correspondence_rejection_reciprocal.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorReciprocal::applyRejection ( pcl::registration::Correspondences & correspondences ) [protected, virtual]

Abstract rejection method.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 40 of file correspondence_rejection_reciprocal.hpp.

void pcl::registration::CorrespondenceRejectorReciprocal::getCorrespondences	(	const pcl::registration::Correspondences &	original_correspondences,
		pcl::registration::Correspondences &	remaining_correspondences
	)			`[inline, virtual]`

Get a pointer to the vector of the input correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 46 of file correspondence_rejection_reciprocal.hpp.

float pcl::registration::CorrespondenceRejectorReciprocal::getDistanceThreshold ( ) [inline]

Set maximally allowable distance between a correspondence and its reciprocal correspondence.

Definition at line 75 of file correspondence_rejection_reciprocal.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejectorReciprocal::getReciprocalCorrespondences ( ) [inline]

Get a pointer to the vector of the input correspondences.

Definition at line 85 of file correspondence_rejection_reciprocal.h.

virtual void pcl::registration::CorrespondenceRejectorReciprocal::setDistanceThreshold ( float threshold ) [inline, virtual]

Set maximally allowable distance between a correspondence and its reciprocal correspondence.

Definition at line 71 of file correspondence_rejection_reciprocal.h.

virtual void pcl::registration::CorrespondenceRejectorReciprocal::setReciprocalCorrespondences ( const CorrespondencesConstPtr & correspondences ) [inline, virtual]

Provide a pointer to the vector of the input correspondences.

Parameters:

correspondences

the const boost shared pointer to a std::vector of correspondences

Definition at line 81 of file correspondence_rejection_reciprocal.h.