Point Cloud Library (PCL)  1.11.0
correspondence_rejection_trimmed.h
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40 
41 #pragma once
42 
43 #include <pcl/registration/correspondence_rejection.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** \brief CorrespondenceRejectorTrimmed implements a correspondence
50  * rejection for ICP-like registration algorithms that uses only the best
51  * 'k' correspondences where 'k' is some estimate of the overlap between
52  * the two point clouds being registered.
53  *
54  * Reference:
55  * 'The Trimmed Iterative Closest Point Algorithm' by
56  * D. Chetverikov, D. Svirko, D. Stepanov, and Pavel Krsek.
57  * In Proceedings of the 16th International Conference on Pattern
58  * Recognition (ICPR 2002).
59  *
60  * \author Dirk Holz
61  * \ingroup registration
62  */
64  {
68 
69  public:
70  using Ptr = shared_ptr<CorrespondenceRejectorTrimmed>;
71  using ConstPtr = shared_ptr<const CorrespondenceRejectorTrimmed>;
72 
73  /** \brief Empty constructor. */
75  overlap_ratio_ (0.5f),
76  nr_min_correspondences_ (0)
77  {
78  rejection_name_ = "CorrespondenceRejectorTrimmed";
79  }
80 
81  /** \brief Destructor. */
83 
84  /** \brief Set the expected ratio of overlap between point clouds (in
85  * terms of correspondences).
86  * \param[in] ratio ratio of overlap between 0 (no overlap, no
87  * correspondences) and 1 (full overlap, all correspondences)
88  */
89  virtual inline void
90  setOverlapRatio (float ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };
91 
92  /** \brief Get the maximum distance used for thresholding in correspondence rejection. */
93  inline float
94  getOverlapRatio () const { return overlap_ratio_; };
95 
96  /** \brief Set a minimum number of correspondences. If the specified overlap ratio causes to have
97  * less correspondences, \a CorrespondenceRejectorTrimmed will try to return at least
98  * \a nr_min_correspondences_ correspondences (or all correspondences in case \a nr_min_correspondences_
99  * is less than the number of given correspondences).
100  * \param[in] min_correspondences the minimum number of correspondences
101  */
102  inline void
103  setMinCorrespondences (unsigned int min_correspondences) { nr_min_correspondences_ = min_correspondences; };
104 
105  /** \brief Get the minimum number of correspondences. */
106  inline unsigned int
107  getMinCorrespondences () const { return nr_min_correspondences_; };
108 
109 
110  /** \brief Get a list of valid correspondences after rejection from the original set of correspondences.
111  * \param[in] original_correspondences the set of initial correspondences given
112  * \param[out] remaining_correspondences the resultant filtered set of remaining correspondences
113  */
114  void
115  getRemainingCorrespondences (const pcl::Correspondences& original_correspondences,
116  pcl::Correspondences& remaining_correspondences) override;
117 
118  protected:
119 
120  /** \brief Apply the rejection algorithm.
121  * \param[out] correspondences the set of resultant correspondences.
122  */
123  inline void
124  applyRejection (pcl::Correspondences &correspondences) override
125  {
126  getRemainingCorrespondences (*input_correspondences_, correspondences);
127  }
128 
129  /** Overlap Ratio in [0..1] */
131 
132  /** Minimum number of correspondences. */
134  };
135 
136  }
137 }
138 
139 #include <pcl/registration/impl/correspondence_rejection_trimmed.hpp>
CorrespondenceRejector represents the base class for correspondence rejection methods
shared_ptr< const CorrespondenceRejector > ConstPtr
CorrespondencesConstPtr input_correspondences_
The input correspondences.
const std::string & getClassName() const
Get a string representation of the name of this class.
shared_ptr< CorrespondenceRejector > Ptr
std::string rejection_name_
The name of the rejection method.
CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorit...
void setMinCorrespondences(unsigned int min_correspondences)
Set a minimum number of correspondences.
float getOverlapRatio() const
Get the maximum distance used for thresholding in correspondence rejection.
unsigned int getMinCorrespondences() const
Get the minimum number of correspondences.
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.
virtual void setOverlapRatio(float ratio)
Set the expected ratio of overlap between point clouds (in terms of correspondences).
unsigned int nr_min_correspondences_
Minimum number of correspondences.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
#define PCL_EXPORTS
Definition: pcl_macros.h:331