#include <correspondence_rejection_var_trimmed.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorVarTrimmed:

Public Types
typedef boost::shared_ptr < const CorrespondenceRejectorVarTrimmed >	ConstPtr
typedef boost::shared_ptr < CorrespondenceRejectorVarTrimmed >	Ptr
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	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	setMaxRatio (double ratio)
void	setMinRatio (double ratio)
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. 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'

Detailed Description

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'

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 64 of file correspondence_rejection_var_trimmed.h.

Member Typedef Documentation

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

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 72 of file correspondence_rejection_var_trimmed.h.

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

Definition at line 209 of file correspondence_rejection_var_trimmed.h.

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

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 71 of file correspondence_rejection_var_trimmed.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 75 of file correspondence_rejection_var_trimmed.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorVarTrimmed::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 182 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::getMaxRatio ( ) const [inline]

brief get the maximum overlap ratio

Definition at line 174 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::getMinRatio ( ) const [inline]

brief get the minimum overlap ratio

Definition at line 163 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::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_var_trimmed.cpp.

double pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimFactor ( ) const [inline]

Get the computed inlier ratio used for thresholding in correspondence rejection.

Definition at line 152 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 96 of file correspondence_rejection_var_trimmed.h.

float pcl::registration::CorrespondenceRejectorVarTrimmed::optimizeInlierRatio ( std::vector< double > & dists ) [inline, 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 82 of file correspondence_rejection_var_trimmed.cpp.

template<typename PointT >

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.

Parameters:

[in] cloud a cloud containing XYZ data

Definition at line 115 of file correspondence_rejection_var_trimmed.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorVarTrimmed::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 103 of file correspondence_rejection_var_trimmed.h.

template<typename PointT >

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.

Parameters:

[in] target a cloud containing XYZ data

Definition at line 128 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::setMaxRatio ( double ratio ) [inline]

brief set the maximum overlap ratio

Parameters:

[in] ratio the overlap ratio [0..1]

Definition at line 169 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::setMinRatio ( double ratio ) [inline]

brief set the minimum overlap ratio

Parameters:

[in] ratio the overlap ratio [0..1]

Definition at line 158 of file correspondence_rejection_var_trimmed.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorVarTrimmed::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 143 of file correspondence_rejection_var_trimmed.h.

Member Data Documentation

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

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

Definition at line 212 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 195 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 207 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 203 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 199 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.