#include <correspondence_rejection_reciprocal.h>
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. |
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.
Definition at line 55 of file correspondence_rejection_reciprocal.h.
pcl::registration::CorrespondenceRejectorReciprocal::CorrespondenceRejectorReciprocal | ( | ) | [inline] |
Definition at line 62 of file correspondence_rejection_reciprocal.h.
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.
correspondences | the const boost shared pointer to a std::vector of correspondences |
Definition at line 81 of file correspondence_rejection_reciprocal.h.
float pcl::registration::CorrespondenceRejectorReciprocal::distance_threshold_ [protected] |
Definition at line 92 of file correspondence_rejection_reciprocal.h.
CorrespondencesConstPtr pcl::registration::CorrespondenceRejectorReciprocal::reciprocal_correspondences_ [protected] |
The reciprocal correspondences.
Definition at line 95 of file correspondence_rejection_reciprocal.h.