#include <correspondence_rejection_var_trimmed.h>
Public Member Functions | |
CorrespondenceRejectorVarTrimmed () | |
Empty constructor. | |
double | getMaxRatio () const |
double | getMinRatio () const |
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. | |
double | getTrimFactor () const |
Get the computed inlier ratio used for thresholding in correspondence rejection. | |
double | getTrimmedDistance () const |
Get the trimmed distance used for thresholding in correspondence rejection. | |
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 | setMaxRatio (double ratio) |
void | setMinRatio (double ratio) |
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. Only factor times the total points sorted based on the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is computed internally. | |
double | lambda_ |
part of the term that balances the root mean square difference. This is an internal parameter | |
double | max_ratio_ |
The maximum overlap ratio between the input and target clouds. | |
double | min_ratio_ |
The minimum overlap ratio between the input and target clouds. | |
double | trimmed_distance_ |
The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target. | |
Private Member Functions | |
float | optimizeInlierRatio (std::vector< double > &dists) |
finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al' |
CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as inliers a certain percentage of correspondences with the least distances. The percentage of inliers is computed internally as mentioned in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
Definition at line 63 of file correspondence_rejection_var_trimmed.h.
typedef boost::shared_ptr<DataContainerInterface> pcl::registration::CorrespondenceRejectorVarTrimmed::DataContainerPtr [protected] |
Definition at line 176 of file correspondence_rejection_var_trimmed.h.
Empty constructor.
Definition at line 72 of file correspondence_rejection_var_trimmed.h.
void pcl::registration::CorrespondenceRejectorVarTrimmed::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 149 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::getMaxRatio | ( | ) | const [inline] |
brief get the maximum overlap ratio
Definition at line 141 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::getMinRatio | ( | ) | const [inline] |
brief get the minimum overlap ratio
Definition at line 130 of file correspondence_rejection_var_trimmed.h.
void pcl::registration::CorrespondenceRejectorVarTrimmed::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 46 of file correspondence_rejection_var_trimmed.hpp.
double pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimFactor | ( | ) | const [inline] |
Get the computed inlier ratio used for thresholding in correspondence rejection.
Definition at line 119 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimmedDistance | ( | ) | const [inline] |
Get the trimmed distance used for thresholding in correspondence rejection.
Definition at line 91 of file correspondence_rejection_var_trimmed.h.
float pcl::registration::CorrespondenceRejectorVarTrimmed::optimizeInlierRatio | ( | std::vector< double > & | dists | ) | [private] |
finds the optimal inlier ratio. This is based on the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'
Definition at line 84 of file correspondence_rejection_var_trimmed.hpp.
void pcl::registration::CorrespondenceRejectorVarTrimmed::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.
[in] | cloud | a cloud containing XYZ data |
Definition at line 98 of file correspondence_rejection_var_trimmed.h.
void pcl::registration::CorrespondenceRejectorVarTrimmed::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.
[in] | target | a cloud containing XYZ data |
Definition at line 110 of file correspondence_rejection_var_trimmed.h.
void pcl::registration::CorrespondenceRejectorVarTrimmed::setMaxRatio | ( | double | ratio | ) | [inline] |
brief set the maximum overlap ratio
[in] | ratio | the overlap ratio [0..1] |
Definition at line 136 of file correspondence_rejection_var_trimmed.h.
void pcl::registration::CorrespondenceRejectorVarTrimmed::setMinRatio | ( | double | ratio | ) | [inline] |
brief set the minimum overlap ratio
[in] | ratio | the overlap ratio [0..1] |
Definition at line 125 of file correspondence_rejection_var_trimmed.h.
A pointer to the DataContainer object containing the input and target point clouds.
Definition at line 179 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::factor_ [protected] |
The factor for correspondence rejection. Only factor times the total points sorted based on the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is computed internally.
Definition at line 162 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::lambda_ [protected] |
part of the term that balances the root mean square difference. This is an internal parameter
Definition at line 174 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::max_ratio_ [protected] |
The maximum overlap ratio between the input and target clouds.
Definition at line 170 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::min_ratio_ [protected] |
The minimum overlap ratio between the input and target clouds.
Definition at line 166 of file correspondence_rejection_var_trimmed.h.
double pcl::registration::CorrespondenceRejectorVarTrimmed::trimmed_distance_ [protected] |
The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target.
Definition at line 156 of file correspondence_rejection_var_trimmed.h.