pcl::registration::CorrespondenceRejectorTrimmed Class Reference

#include <correspondence_rejection_trimmed.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorTrimmed:

Public Member Functions
	CorrespondenceRejectorTrimmed ()
void	getCorrespondences (const pcl::registration::Correspondences &original_correspondences, pcl::registration::Correspondences &remaining_correspondences)
	Get a pointer to the vector of the input correspondences.
unsigned int	getMinCorrespondences ()
	Get the minimum number of correspondences.
float	getOverlapRadio ()
	Get the maximum distance used for thresholding in correspondence rejection.
void	setMinCorrespondences (unsigned int min_correspondences)
	Set a minimum number of correspondences. If the specified overlap ratio causes to have less correspondences, CorrespondenceRejectorTrimmed will try to return at least nr_min_correspondences_ correspondences (or all correspondences in case nr_min_correspondences_ is less than the number of given correspondences).
virtual void	setOverlapRadio (float ratio)
	Set the expected ratio of overlap between point clouds (in terms of correspondences).
Protected Member Functions
void	applyRejection (pcl::registration::Correspondences &correspondences)
	Abstract rejection method.
Protected Attributes
unsigned int	nr_min_correspondences_
float	overlap_ratio_

Detailed Description

CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorithms that uses only the best 'k' correspondences where 'k' is some estimate of the overlap between the two point clouds being registered.

Reference: 'The Trimmed Iterative Closest Point Algorithm' by D. Chetverikov, D. Svirko, D. Stepanov, and Pavel Krsek. In Proceedings of the 16th International Conference on Pattern Recognition (ICPR 2002).

Author:: Dirk Holz

Definition at line 60 of file correspondence_rejection_trimmed.h.

Constructor & Destructor Documentation

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

Definition at line 67 of file correspondence_rejection_trimmed.h.

Member Function Documentation

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

Abstract rejection method.

not really an efficient implementation

Implements pcl::registration::CorrespondenceRejector.

Definition at line 40 of file correspondence_rejection_trimmed.hpp.

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

Get a pointer to the vector of the input correspondences.

not really an efficient implementation

Implements pcl::registration::CorrespondenceRejector.

Definition at line 57 of file correspondence_rejection_trimmed.hpp.

unsigned int pcl::registration::CorrespondenceRejectorTrimmed::getMinCorrespondences ( ) [inline]

Get the minimum number of correspondences.

Definition at line 95 of file correspondence_rejection_trimmed.h.

float pcl::registration::CorrespondenceRejectorTrimmed::getOverlapRadio ( ) [inline]

Get the maximum distance used for thresholding in correspondence rejection.

Definition at line 86 of file correspondence_rejection_trimmed.h.

void pcl::registration::CorrespondenceRejectorTrimmed::setMinCorrespondences ( unsigned int min_correspondences ) [inline]

Set a minimum number of correspondences. If the specified overlap ratio causes to have less correspondences, CorrespondenceRejectorTrimmed will try to return at least nr_min_correspondences_ correspondences (or all correspondences in case nr_min_correspondences_ is less than the number of given correspondences).

Definition at line 93 of file correspondence_rejection_trimmed.h.

virtual void pcl::registration::CorrespondenceRejectorTrimmed::setOverlapRadio ( float ratio ) [inline, virtual]

Set the expected ratio of overlap between point clouds (in terms of correspondences).

Parameters:

ratio

ratio of overlap between 0 (no overlap, no correspondences) and 1 (full overlap, all correspondences)

Definition at line 82 of file correspondence_rejection_trimmed.h.