Point Cloud Library (PCL)
1.3.1
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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 Member Functions | |
CorrespondenceRejectorTrimmed () | |
Empty constructor. | |
virtual void | setOverlapRadio (float ratio) |
Set the expected ratio of overlap between point clouds (in terms of correspondences). | |
float | getOverlapRadio () |
Get the maximum distance used for thresholding in correspondence rejection. | |
void | setMinCorrespondences (unsigned int min_correspondences) |
Set a minimum number of correspondences. | |
unsigned int | getMinCorrespondences () |
Get the minimum number of correspondences. | |
void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) |
DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences. | |
virtual void | setInputCorrespondences (const CorrespondencesConstPtr &correspondences) |
Provide a pointer to the vector of the input correspondences. | |
CorrespondencesConstPtr | getInputCorrespondences () |
Get a pointer to the vector of the input correspondences. | |
void | getCorrespondences (pcl::Correspondences &correspondences) |
Run correspondence rejection. | |
void | getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices) |
DEPRECATED: 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. | |
Static Public Member Functions | |
static bool | compareCorrespondencesDistance (const pcl::Correspondence &a, const pcl::Correspondence &b) |
DEPRECATED: Simple comparator for two correspondences. |
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).
pcl::registration::CorrespondenceRejectorTrimmed::CorrespondenceRejectorTrimmed | ( | ) | [inline] |
Empty constructor.
Definition at line 69 of file correspondence_rejection_trimmed.h.
static bool pcl::registration::CorrespondenceRejector::compareCorrespondencesDistance | ( | const pcl::Correspondence & | a, |
const pcl::Correspondence & | b | ||
) | [inline, static, inherited] |
DEPRECATED: Simple comparator for two correspondences.
Returns true if the distance of the first correspondence is smaller than the distance of the second.
[in] | a | the first correspondence |
[in] | b | the second correspondence |
Definition at line 107 of file correspondence_rejection.h.
void pcl::registration::CorrespondenceRejector::getCorrespondences | ( | pcl::Correspondences & | correspondences | ) | [inline, inherited] |
Run correspondence rejection.
[out] | correspondences | Vector of correspondences that have not been rejected. |
Definition at line 78 of file correspondence_rejection.h.
CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences | ( | ) | [inline, inherited] |
Get a pointer to the vector of the input correspondences.
Definition at line 72 of file correspondence_rejection.h.
unsigned int pcl::registration::CorrespondenceRejectorTrimmed::getMinCorrespondences | ( | ) | [inline] |
Get the minimum number of correspondences.
Definition at line 98 of file correspondence_rejection_trimmed.h.
float pcl::registration::CorrespondenceRejectorTrimmed::getOverlapRadio | ( | ) | [inline] |
Get the maximum distance used for thresholding in correspondence rejection.
Definition at line 86 of file correspondence_rejection_trimmed.h.
void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices | ( | const pcl::Correspondences & | correspondences, |
std::vector< int > & | indices | ||
) | [inline, inherited] |
DEPRECATED: 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.
[in] | correspondences | Vector of correspondences after rejection |
[out] | indices | Vector of query point indices of those correspondences that have been rejected. |
Definition at line 123 of file correspondence_rejection.h.
void pcl::registration::CorrespondenceRejectorTrimmed::getRemainingCorrespondences | ( | const pcl::Correspondences & | original_correspondences, |
pcl::Correspondences & | remaining_correspondences | ||
) | [inline, virtual] |
DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.
original_correspondences | the set of initial correspondences given |
remaining_correspondences | the resultant filtered set of remaining correspondences |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 61 of file correspondence_rejection_trimmed.hpp.
virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences | ( | const CorrespondencesConstPtr & | correspondences | ) | [inline, virtual, inherited] |
Provide a pointer to the vector of the input correspondences.
[in] | correspondences | the const boost shared pointer to a correspondence vector |
Definition at line 63 of file correspondence_rejection.h.
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).
Definition at line 94 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).
ratio | ratio of overlap between 0 (no overlap, no correspondences) and 1 (full overlap, all correspondences) |
Definition at line 82 of file correspondence_rejection_trimmed.h.