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 <pcl/registration/correspondence_rejection_trimmed.h>
Public Types |
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| using | Ptr = shared_ptr< CorrespondenceRejectorTrimmed > |
| using | ConstPtr = shared_ptr< const CorrespondenceRejectorTrimmed > |
 Public Types inherited from pcl::registration::CorrespondenceRejector |
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| using | Ptr = shared_ptr< CorrespondenceRejector > |
| using | ConstPtr = shared_ptr< const CorrespondenceRejector > |
Public Member Functions |
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| CorrespondenceRejectorTrimmed () | |
| Empty constructor. More... |
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| ~CorrespondenceRejectorTrimmed () | |
| Destructor. More... |
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| virtual void | setOverlapRatio (float ratio) |
| Set the expected ratio of overlap between point clouds (in terms of correspondences). More... |
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| float | getOverlapRatio () const |
| Get the maximum distance used for thresholding in correspondence rejection. More... |
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| void | setMinCorrespondences (unsigned int min_correspondences) |
| Set a minimum number of correspondences. More... |
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| unsigned int | getMinCorrespondences () const |
| Get the minimum number of correspondences. More... |
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| void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override |
| Get a list of valid correspondences after rejection from the original set of correspondences. More... |
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| Public Member Functions inherited from pcl::registration::CorrespondenceRejector |
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| CorrespondenceRejector () | |
| Empty constructor. More... |
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| virtual | ~CorrespondenceRejector () |
| Empty destructor. More... |
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| virtual void | setInputCorrespondences (const CorrespondencesConstPtr &correspondences) |
| Provide a pointer to the vector of the input correspondences. More... |
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| CorrespondencesConstPtr | getInputCorrespondences () |
| Get a pointer to the vector of the input correspondences. More... |
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| void | getCorrespondences (pcl::Correspondences &correspondences) |
| Run correspondence rejection. More... |
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| void | getRejectedQueryIndices (const pcl::Correspondences &correspondences, pcl::Indices &indices) |
| Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector. More... |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | requiresSourcePoints () const |
| See if this rejector requires source points. More... |
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| virtual void | setSourcePoints (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the source cloud. More... |
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| virtual bool | requiresSourceNormals () const |
| See if this rejector requires source normals. More... |
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| virtual void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the source normals. More... |
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| virtual bool | requiresTargetPoints () const |
| See if this rejector requires a target cloud. More... |
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| virtual void | setTargetPoints (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the target cloud. More... |
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| virtual bool | requiresTargetNormals () const |
| See if this rejector requires target normals. More... |
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| virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
| Abstract method for setting the target normals. More... |
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Protected Member Functions |
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| void | applyRejection (pcl::Correspondences &correspondences) override |
| Apply the rejection algorithm. More... |
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Protected Attributes |
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| float | overlap_ratio_ |
| Overlap Ratio in [0..1]. More... |
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| unsigned int | nr_min_correspondences_ |
| Minimum number of correspondences. More... |
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| Protected Attributes inherited from pcl::registration::CorrespondenceRejector |
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| std::string | rejection_name_ |
| The name of the rejection method. More... |
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| CorrespondencesConstPtr | input_correspondences_ |
| The input correspondences. More... |
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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).
Definition at line 61 of file correspondence_rejection_trimmed.h.
Member Typedef Documentation
ConstPtr
| using pcl::registration::CorrespondenceRejectorTrimmed::ConstPtr = shared_ptr<const CorrespondenceRejectorTrimmed> |
Definition at line 68 of file correspondence_rejection_trimmed.h.
Ptr
| using pcl::registration::CorrespondenceRejectorTrimmed::Ptr = shared_ptr<CorrespondenceRejectorTrimmed> |
Definition at line 67 of file correspondence_rejection_trimmed.h.
Constructor & Destructor Documentation
CorrespondenceRejectorTrimmed()
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inline |
Empty constructor.
Definition at line 71 of file correspondence_rejection_trimmed.h.
~CorrespondenceRejectorTrimmed()
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inline |
Destructor.
Definition at line 77 of file correspondence_rejection_trimmed.h.
Member Function Documentation
applyRejection()
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inlineoverrideprotectedvirtual |
Apply the rejection algorithm.
- Parameters
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[out] correspondences the set of resultant correspondences.
Implements pcl::registration::CorrespondenceRejector.
Definition at line 132 of file correspondence_rejection_trimmed.h.
getMinCorrespondences()
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inline |
Get the minimum number of correspondences.
Definition at line 113 of file correspondence_rejection_trimmed.h.
getOverlapRatio()
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inline |
Get the maximum distance used for thresholding in correspondence rejection.
Definition at line 93 of file correspondence_rejection_trimmed.h.
getRemainingCorrespondences()
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overridevirtual |
Get a list of valid correspondences after rejection from the original set of correspondences.
- Parameters
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[in] original_correspondences the set of initial correspondences given [out] remaining_correspondences the resultant filtered set of remaining correspondences
Implements pcl::registration::CorrespondenceRejector.
setMinCorrespondences()
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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
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[in] min_correspondences the minimum number of correspondences
Definition at line 106 of file correspondence_rejection_trimmed.h.
setOverlapRatio()
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inlinevirtual |
Set the expected ratio of overlap between point clouds (in terms of correspondences).
- Parameters
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[in] ratio ratio of overlap between 0 (no overlap, no correspondences) and 1 (full overlap, all correspondences)
Definition at line 85 of file correspondence_rejection_trimmed.h.
Member Data Documentation
nr_min_correspondences_
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protected |
Minimum number of correspondences.
Definition at line 141 of file correspondence_rejection_trimmed.h.
overlap_ratio_
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protected |
Overlap Ratio in [0..1].
Definition at line 138 of file correspondence_rejection_trimmed.h.
The documentation for this class was generated from the following file:
- pcl/registration/correspondence_rejection_trimmed.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_rejector_trimmed.html
