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. More...

#include <correspondence_rejection_trimmed.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorTrimmed:

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List of all members.

Public Member Functions
	CorrespondenceRejectorTrimmed ()
	Empty constructor.
unsigned int	getMinCorrespondences ()
	Get the minimum number of correspondences.
float	getOverlapRadio ()
	Get the maximum distance used for thresholding in correspondence rejection.
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.
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).
virtual	~CorrespondenceRejectorTrimmed ()
	Destructor.
Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm.
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 61 of file correspondence_rejection_trimmed.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 70 of file correspondence_rejection_trimmed.h.

virtual pcl::registration::CorrespondenceRejectorTrimmed::~CorrespondenceRejectorTrimmed ( ) [inline, virtual]

Destructor.

Definition at line 78 of file correspondence_rejection_trimmed.h.

Member Function Documentation

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

Apply the rejection algorithm.

Parameters:

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 121 of file correspondence_rejection_trimmed.h.

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

Get the minimum number of correspondences.

Definition at line 103 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 90 of file correspondence_rejection_trimmed.h.

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

Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters:

[in]	original_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 43 of file correspondence_rejection_trimmed.hpp.

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).

Parameters:

[in] min_correspondences the minimum number of correspondences

Definition at line 99 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:

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

Definition at line 86 of file correspondence_rejection_trimmed.h.