Public Member Functions | Protected Member Functions | Protected Attributes
pcl::registration::CorrespondenceRejectorTrimmed Class Reference

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:
Inheritance graph
[legend]

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

Empty constructor.

Definition at line 70 of file correspondence_rejection_trimmed.h.

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]correspondencesthe set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 121 of file correspondence_rejection_trimmed.h.

Get the minimum number of correspondences.

Definition at line 103 of file correspondence_rejection_trimmed.h.

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_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe 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_correspondencesthe 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]ratioratio of overlap between 0 (no overlap, no correspondences) and 1 (full overlap, all correspondences)

Definition at line 86 of file correspondence_rejection_trimmed.h.


Member Data Documentation

Minimum number of correspondences.

Definition at line 130 of file correspondence_rejection_trimmed.h.

Overlap Ratio in [0..1]

Definition at line 127 of file correspondence_rejection_trimmed.h.


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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:21