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>
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_ |
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).
Definition at line 61 of file correspondence_rejection_trimmed.h.
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.
void pcl::registration::CorrespondenceRejectorTrimmed::applyRejection | ( | pcl::Correspondences & | correspondences | ) | [inline, protected, virtual] |
Apply the rejection algorithm.
[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.
[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).
[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).
[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.
unsigned int pcl::registration::CorrespondenceRejectorTrimmed::nr_min_correspondences_ [protected] |
Minimum number of correspondences.
Definition at line 130 of file correspondence_rejection_trimmed.h.
float pcl::registration::CorrespondenceRejectorTrimmed::overlap_ratio_ [protected] |
Overlap Ratio in [0..1]
Definition at line 127 of file correspondence_rejection_trimmed.h.