Public Member Functions | Protected Member Functions | Protected Attributes

pcl::registration::CorrespondenceRejectorReciprocal Class Reference
[Module registration]

CorrespondenceRejectorReciprocal implements a reciprocal correspondence rejection method for ICP-like registration algorithms. More...

#include <pcl/registration/correspondence_rejection_reciprocal.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorReciprocal:
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List of all members.

Public Member Functions

 CorrespondenceRejectorReciprocal ()
void getCorrespondences (const pcl::registration::Correspondences &original_correspondences, pcl::registration::Correspondences &remaining_correspondences)
 Get a pointer to the vector of the input correspondences.
virtual void setDistanceThreshold (float threshold)
 Set maximally allowable distance between a correspondence and its reciprocal correspondence.
float getDistanceThreshold ()
 Set maximally allowable distance between a correspondence and its reciprocal correspondence.
virtual void setReciprocalCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences.
CorrespondencesConstPtr getReciprocalCorrespondences ()
 Get a pointer to the vector of the input correspondences.

Protected Member Functions

void applyRejection (pcl::registration::Correspondences &correspondences)
 Abstract rejection method.

Protected Attributes

float distance_threshold_
CorrespondencesConstPtr reciprocal_correspondences_
 The reciprocal correspondences.

Detailed Description

CorrespondenceRejectorReciprocal implements a reciprocal correspondence rejection method for ICP-like registration algorithms.

Given the correspondences between target and source (reciprocal search), it removes all correspondences, where the target point (match index) has a different corresponding point in the source than the query point (query index) and the difference in distances exceeds a given threshold.

Author:
Dirk Holz

Definition at line 55 of file correspondence_rejection_reciprocal.h.


Constructor & Destructor Documentation

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

Definition at line 62 of file correspondence_rejection_reciprocal.h.


Member Function Documentation

void pcl::registration::CorrespondenceRejectorReciprocal::applyRejection ( pcl::registration::Correspondences correspondences  )  [protected, virtual]

Abstract rejection method.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 40 of file correspondence_rejection_reciprocal.hpp.

void pcl::registration::CorrespondenceRejectorReciprocal::getCorrespondences ( const pcl::registration::Correspondences original_correspondences,
pcl::registration::Correspondences remaining_correspondences 
) [inline, virtual]

Get a pointer to the vector of the input correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 46 of file correspondence_rejection_reciprocal.hpp.

float pcl::registration::CorrespondenceRejectorReciprocal::getDistanceThreshold (  )  [inline]

Set maximally allowable distance between a correspondence and its reciprocal correspondence.

Definition at line 76 of file correspondence_rejection_reciprocal.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejectorReciprocal::getReciprocalCorrespondences (  )  [inline]

Get a pointer to the vector of the input correspondences.

Definition at line 86 of file correspondence_rejection_reciprocal.h.

virtual void pcl::registration::CorrespondenceRejectorReciprocal::setDistanceThreshold ( float  threshold  )  [inline, virtual]

Set maximally allowable distance between a correspondence and its reciprocal correspondence.

Definition at line 72 of file correspondence_rejection_reciprocal.h.

virtual void pcl::registration::CorrespondenceRejectorReciprocal::setReciprocalCorrespondences ( const CorrespondencesConstPtr correspondences  )  [inline, virtual]

Provide a pointer to the vector of the input correspondences.

Parameters:
correspondences the const boost shared pointer to a std::vector of correspondences

Definition at line 82 of file correspondence_rejection_reciprocal.h.


Member Data Documentation

Definition at line 94 of file correspondence_rejection_reciprocal.h.

The reciprocal correspondences.

Definition at line 97 of file correspondence_rejection_reciprocal.h.


The documentation for this class was generated from the following files: