CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences. More...

#include <correspondence_rejection_median_distance.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorMedianDistance:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const CorrespondenceRejectorMedianDistance >	ConstPtr
typedef boost::shared_ptr < CorrespondenceRejectorMedianDistance >	Ptr
Public Member Functions
	CorrespondenceRejectorMedianDistance ()
	Empty constructor.
double	getMedianDistance () const
	Get the median distance used for thresholding in correspondence rejection.
double	getMedianFactor () const
	Get the factor 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.
template<typename PointT >
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
template<typename PointT >
void	setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
template<typename PointT >
void	setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
void	setMedianFactor (double factor)
	Set the factor for correspondence rejection. Points with distance greater than median times factor will be rejected.
template<typename PointT >
void	setSearchMethodTarget (const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud.
Protected Types
typedef boost::shared_ptr < DataContainerInterface >	DataContainerPtr
Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm.
Protected Attributes
DataContainerPtr	data_container_
	A pointer to the DataContainer object containing the input and target point clouds.
double	factor_
	The factor for correspondence rejection. Points with distance greater than median times factor will be rejected.
double	median_distance_
	The median distance threshold between two correspondent points in source <-> target.

Detailed Description

CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences.

Note:: If setInputCloud and setInputTarget are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.

Author:: Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 61 of file correspondence_rejection_median_distance.h.

Member Typedef Documentation

typedef boost::shared_ptr<const CorrespondenceRejectorMedianDistance> pcl::registration::CorrespondenceRejectorMedianDistance::ConstPtr

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 69 of file correspondence_rejection_median_distance.h.

typedef boost::shared_ptr<DataContainerInterface> pcl::registration::CorrespondenceRejectorMedianDistance::DataContainerPtr [protected]

Definition at line 175 of file correspondence_rejection_median_distance.h.

typedef boost::shared_ptr<CorrespondenceRejectorMedianDistance> pcl::registration::CorrespondenceRejectorMedianDistance::Ptr

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 68 of file correspondence_rejection_median_distance.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 72 of file correspondence_rejection_median_distance.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorMedianDistance::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 161 of file correspondence_rejection_median_distance.h.

double pcl::registration::CorrespondenceRejectorMedianDistance::getMedianDistance ( ) const [inline]

Get the median distance used for thresholding in correspondence rejection.

Definition at line 90 of file correspondence_rejection_median_distance.h.

double pcl::registration::CorrespondenceRejectorMedianDistance::getMedianFactor ( ) const [inline]

Get the factor used for thresholding in correspondence rejection.

Definition at line 153 of file correspondence_rejection_median_distance.h.

void pcl::registration::CorrespondenceRejectorMedianDistance::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)		`[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 44 of file correspondence_rejection_median_distance.cpp.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud ) [inline]

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters:

[in] cloud a cloud containing XYZ data

Definition at line 109 of file correspondence_rejection_median_distance.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::setInputSource ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud ) [inline]

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters:

[in] cloud a cloud containing XYZ data

Definition at line 97 of file correspondence_rejection_median_distance.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::setInputTarget ( const typename pcl::PointCloud< PointT >::ConstPtr & target ) [inline]

Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters:

[in] target a cloud containing XYZ data

Definition at line 122 of file correspondence_rejection_median_distance.h.

void pcl::registration::CorrespondenceRejectorMedianDistance::setMedianFactor ( double factor ) [inline]

Set the factor for correspondence rejection. Points with distance greater than median times factor will be rejected.

Parameters:

[in] factor value

Definition at line 149 of file correspondence_rejection_median_distance.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::setSearchMethodTarget	(	const boost::shared_ptr< pcl::search::KdTree< PointT > > &	tree,
		bool	force_no_recompute = `false`
	)		`[inline]`

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters:

[in]	tree	a pointer to the spatial search object.
[in]	force_no_recompute	If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.

Definition at line 137 of file correspondence_rejection_median_distance.h.