Point Cloud Library (PCL)  1.3.1
Public Member Functions | Static Public Member Functions
pcl::registration::CorrespondenceRejectorTrimmed Class Reference

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>

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List of all members.

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.

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).

Author:
Dirk Holz

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 69 of file correspondence_rejection_trimmed.h.


Member Function Documentation

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.

Parameters:
[in]athe first correspondence
[in]bthe second correspondence

Definition at line 107 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences correspondences) [inline, inherited]

Run correspondence rejection.

Parameters:
[out]correspondencesVector 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.

Returns:
correspondences the const boost shared pointer to a correspondence vector

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.

Parameters:
[in]correspondencesVector of correspondences after rejection
[out]indicesVector 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.

Parameters:
original_correspondencesthe set of initial correspondences given
remaining_correspondencesthe 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.

Parameters:
[in]correspondencesthe 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).

Parameters:
ratioratio of overlap between 0 (no overlap, no correspondences) and 1 (full overlap, all correspondences)

Definition at line 82 of file correspondence_rejection_trimmed.h.


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