Point Cloud Library (PCL)  1.8.1-dev
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pcl::registration::CorrespondenceRejectorVarTrimmed Class Reference

CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as inliers a certain percentage of correspondences with the least distances. More...

#include <pcl/registration/correspondence_rejection_var_trimmed.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorVarTrimmed:

Public Types

typedef boost::shared_ptr
< CorrespondenceRejectorVarTrimmed
Ptr
 
typedef boost::shared_ptr
< const
CorrespondenceRejectorVarTrimmed
ConstPtr
 
- Public Types inherited from pcl::registration::CorrespondenceRejector
typedef boost::shared_ptr
< CorrespondenceRejector
Ptr
 
typedef boost::shared_ptr
< const CorrespondenceRejector
ConstPtr
 

Public Member Functions

 CorrespondenceRejectorVarTrimmed ()
 Empty constructor. More...
 
void getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
 Get a list of valid correspondences after rejection from the original set of correspondences. More...
 
double getTrimmedDistance () const
 Get the trimmed distance used for thresholding in correspondence rejection. More...
 
template<typename PointT >
void setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
template<typename PointT >
void setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
template<typename PointT >
void setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &target)
 Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
bool requiresSourcePoints () const
 See if this rejector requires source points. More...
 
void setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
 Blob method for setting the source cloud. More...
 
bool requiresTargetPoints () const
 See if this rejector requires a target cloud. More...
 
void setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
 Method for setting the target cloud. More...
 
template<typename PointT >
void setSearchMethodTarget (const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false)
 Provide a pointer to the search object used to find correspondences in the target cloud. More...
 
double getTrimFactor () const
 Get the computed inlier ratio used for thresholding in correspondence rejection. More...
 
void setMinRatio (double ratio)
 brief set the minimum overlap ratio More...
 
double getMinRatio () const
 brief get the minimum overlap ratio More...
 
void setMaxRatio (double ratio)
 brief set the maximum overlap ratio More...
 
double getMaxRatio () const
 brief get the maximum overlap ratio More...
 
- Public Member Functions inherited from pcl::registration::CorrespondenceRejector
 CorrespondenceRejector ()
 Empty constructor. More...
 
virtual ~CorrespondenceRejector ()
 Empty destructor. More...
 
virtual void setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences. More...
 
CorrespondencesConstPtr getInputCorrespondences ()
 Get a pointer to the vector of the input correspondences. More...
 
void getCorrespondences (pcl::Correspondences &correspondences)
 Run correspondence rejection. More...
 
void getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
 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. More...
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool requiresSourceNormals () const
 See if this rejector requires source normals. More...
 
virtual void setSourceNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the source normals. More...
 
virtual bool requiresTargetNormals () const
 See if this rejector requires target normals. More...
 
virtual void setTargetNormals (pcl::PCLPointCloud2::ConstPtr)
 Abstract method for setting the target normals. More...
 

Protected Types

typedef boost::shared_ptr
< DataContainerInterface
DataContainerPtr
 

Protected Member Functions

void applyRejection (pcl::Correspondences &correspondences)
 Apply the rejection algorithm. More...
 

Protected Attributes

double trimmed_distance_
 The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target. More...
 
double factor_
 The factor for correspondence rejection. More...
 
double min_ratio_
 The minimum overlap ratio between the input and target clouds. More...
 
double max_ratio_
 The maximum overlap ratio between the input and target clouds. More...
 
double lambda_
 part of the term that balances the root mean square difference. More...
 
DataContainerPtr data_container_
 A pointer to the DataContainer object containing the input and target point clouds. More...
 
- Protected Attributes inherited from pcl::registration::CorrespondenceRejector
std::string rejection_name_
 The name of the rejection method. More...
 
CorrespondencesConstPtr input_correspondences_
 The input correspondences. More...
 

Detailed Description

CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as inliers a certain percentage of correspondences with the least distances.

The percentage of inliers is computed internally as mentioned in the paper 'Outlier Robust ICP for minimizing Fractional RMSD, J. M. Philips et al'

Note
If setInputCloud and setInputTarget are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.
Author
Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 64 of file correspondence_rejection_var_trimmed.h.

Member Typedef Documentation

Definition at line 72 of file correspondence_rejection_var_trimmed.h.

Definition at line 239 of file correspondence_rejection_var_trimmed.h.

Definition at line 71 of file correspondence_rejection_var_trimmed.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorVarTrimmed::CorrespondenceRejectorVarTrimmed ( )
inline

Empty constructor.

Definition at line 75 of file correspondence_rejection_var_trimmed.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorVarTrimmed::applyRejection ( pcl::Correspondences correspondences)
inlineprotectedvirtual

Apply the rejection algorithm.

Parameters
[out]correspondencesthe set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 212 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::getMaxRatio ( ) const
inline

brief get the maximum overlap ratio

Definition at line 204 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::getMinRatio ( ) const
inline

brief get the minimum overlap ratio

Definition at line 193 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
)
virtual

Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters
[in]original_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

double pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimFactor ( ) const
inline

Get the computed inlier ratio used for thresholding in correspondence rejection.

Definition at line 182 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::getTrimmedDistance ( ) const
inline

Get the trimmed distance used for thresholding in correspondence rejection.

Definition at line 96 of file correspondence_rejection_var_trimmed.h.

bool pcl::registration::CorrespondenceRejectorVarTrimmed::requiresSourcePoints ( ) const
inlinevirtual

See if this rejector requires source points.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 139 of file correspondence_rejection_var_trimmed.h.

bool pcl::registration::CorrespondenceRejectorVarTrimmed::requiresTargetPoints ( ) const
inlinevirtual

See if this rejector requires a target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 153 of file correspondence_rejection_var_trimmed.h.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorVarTrimmed::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr cloud)
inline

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters
[in]clouda cloud containing XYZ data

Definition at line 115 of file correspondence_rejection_var_trimmed.h.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorVarTrimmed::setInputSource ( const typename pcl::PointCloud< PointT >::ConstPtr cloud)
inline

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters
[in]clouda cloud containing XYZ data

Definition at line 103 of file correspondence_rejection_var_trimmed.h.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorVarTrimmed::setInputTarget ( const typename pcl::PointCloud< PointT >::ConstPtr target)
inline

Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters
[in]targeta cloud containing XYZ data

Definition at line 128 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::setMaxRatio ( double  ratio)
inline

brief set the maximum overlap ratio

Parameters
[in]ratiothe overlap ratio [0..1]

Definition at line 199 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::setMinRatio ( double  ratio)
inline

brief set the minimum overlap ratio

Parameters
[in]ratiothe overlap ratio [0..1]

Definition at line 188 of file correspondence_rejection_var_trimmed.h.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorVarTrimmed::setSearchMethodTarget ( const boost::shared_ptr< pcl::search::KdTree< PointT > > &  tree,
bool  force_no_recompute = false 
)
inline

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters
[in]treea pointer to the spatial search object.
[in]force_no_recomputeIf set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.

Definition at line 173 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr  cloud2)
inlinevirtual

Blob method for setting the source cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 144 of file correspondence_rejection_var_trimmed.h.

References pcl::fromPCLPointCloud2().

void pcl::registration::CorrespondenceRejectorVarTrimmed::setTargetPoints ( pcl::PCLPointCloud2::ConstPtr  cloud2)
inlinevirtual

Method for setting the target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 158 of file correspondence_rejection_var_trimmed.h.

References pcl::fromPCLPointCloud2().

Member Data Documentation

DataContainerPtr pcl::registration::CorrespondenceRejectorVarTrimmed::data_container_
protected

A pointer to the DataContainer object containing the input and target point clouds.

Definition at line 242 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::factor_
protected

The factor for correspondence rejection.

Only factor times the total points sorted based on the correspondence distances will be considered as inliers. Remaining points are rejected. This factor is computed internally

Definition at line 225 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::lambda_
protected

part of the term that balances the root mean square difference.

This is an internal parameter

Definition at line 237 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::max_ratio_
protected

The maximum overlap ratio between the input and target clouds.

Definition at line 233 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::min_ratio_
protected

The minimum overlap ratio between the input and target clouds.

Definition at line 229 of file correspondence_rejection_var_trimmed.h.

double pcl::registration::CorrespondenceRejectorVarTrimmed::trimmed_distance_
protected

The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target.

Definition at line 219 of file correspondence_rejection_var_trimmed.h.


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