Point Cloud Library (PCL)  1.7.1
correspondence_rejection_trimmed.h
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40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_
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  typedef boost::shared_ptr<CorrespondenceRejectorTrimmed> Ptr;
71  typedef boost::shared_ptr<const CorrespondenceRejectorTrimmed> ConstPtr;
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 () { 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 () { 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);
117 
118  protected:
119 
120  /** \brief Apply the rejection algorithm.
121  * \param[out] correspondences the set of resultant correspondences.
122  */
123  inline void
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>
140 
141 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_