#include <correspondence_rejection_median_distance.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorMedianDistance:

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	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.
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 60 of file correspondence_rejection_median_distance.h.

Member Typedef Documentation

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

Definition at line 143 of file correspondence_rejection_median_distance.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 69 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 129 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 86 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 121 of file correspondence_rejection_median_distance.h.

void pcl::registration::CorrespondenceRejectorMedianDistance::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 45 of file correspondence_rejection_median_distance.hpp.

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 93 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 105 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 117 of file correspondence_rejection_median_distance.h.

Member Data Documentation

DataContainerPtr pcl::registration::CorrespondenceRejectorMedianDistance::data_container_ [protected]

A pointer to the DataContainer object containing the input and target point clouds.

Definition at line 146 of file correspondence_rejection_median_distance.h.

double pcl::registration::CorrespondenceRejectorMedianDistance::factor_ [protected]

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

Definition at line 141 of file correspondence_rejection_median_distance.h.

double pcl::registration::CorrespondenceRejectorMedianDistance::median_distance_ [protected]

The median distance threshold between two correspondent points in source <-> target.

Definition at line 136 of file correspondence_rejection_median_distance.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation