Public Member Functions | Protected Member Functions | Protected Attributes

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

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 ()
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 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.

Protected Member Functions

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

Protected Attributes

float overlap_ratio_
 Overlap Ratio in [0..1].
unsigned int nr_min_correspondences_
 Minimum number of 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

Definition at line 60 of file correspondence_rejection_trimmed.h.


Constructor & Destructor Documentation

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

Definition at line 67 of file correspondence_rejection_trimmed.h.


Member Function Documentation

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

Abstract rejection method.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 40 of file correspondence_rejection_trimmed.hpp.

void pcl::registration::CorrespondenceRejectorTrimmed::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 57 of file correspondence_rejection_trimmed.hpp.

unsigned int pcl::registration::CorrespondenceRejectorTrimmed::getMinCorrespondences (  )  [inline]

Get the minimum number of correspondences.

Definition at line 99 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 87 of file correspondence_rejection_trimmed.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 95 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:
ratio ratio of overlap between 0 (no overlap, no correspondences) and 1 (full overlap, all correspondences)

Definition at line 83 of file correspondence_rejection_trimmed.h.


Member Data Documentation

Minimum number of correspondences.

Definition at line 110 of file correspondence_rejection_trimmed.h.

Overlap Ratio in [0..1].

Definition at line 107 of file correspondence_rejection_trimmed.h.


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