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:

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Collaboration diagram for pcl::registration::CorrespondenceRejectorVarTrimmed:

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List of all members.

Public Member Functions
	CorrespondenceRejectorVarTrimmed ()
	Empty constructor.
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.
double	getTrimmedDistance () const
	Get the trimmed distance used for thresholding in correspondence rejection.
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.
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.
double	getTrimFactor () const
	Get the computed inlier ratio used for thresholding in correspondence rejection.
void	setMinRatio (double ratio)
	brief set the minimum overlap ratio
double	getMinRatio () const
	brief get the minimum overlap ratio
void	setMaxRatio (double ratio)
	brief set the maximum overlap ratio
double	getMaxRatio () const
	brief get the maximum overlap ratio
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)
	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.

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 63 of file correspondence_rejection_var_trimmed.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 72 of file correspondence_rejection_var_trimmed.h.

Member Function Documentation

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

Run correspondence rejection.

Parameters:

[out] correspondences Vector of correspondences that have not been rejected.

Definition at line 84 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 78 of file correspondence_rejection.h.

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

brief get the maximum overlap ratio

Definition at line 141 of file correspondence_rejection_var_trimmed.h.

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

brief get the minimum overlap ratio

Definition at line 130 of file correspondence_rejection_var_trimmed.h.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices	(	const pcl::Correspondences &	correspondences,
		std::vector< int > &	indices
	)		`[inline, inherited]`

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]	correspondences	Vector of correspondences after rejection
[out]	indices	Vector of query point indices of those correspondences that have been rejected.

Definition at line 112 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejectorVarTrimmed::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)		`[inline, virtual]`

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

Parameters:

[in]	original_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 46 of file correspondence_rejection_var_trimmed.hpp.

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

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

Definition at line 119 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 91 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] cloud a cloud containing XYZ data

Definition at line 98 of file correspondence_rejection_var_trimmed.h.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr & correspondences ) [inline, virtual, inherited]

Provide a pointer to the vector of the input correspondences.

Parameters:

[in] correspondences the const boost shared pointer to a correspondence vector

Definition at line 69 of file correspondence_rejection.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] target a cloud containing XYZ data

Definition at line 110 of file correspondence_rejection_var_trimmed.h.

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

brief set the maximum overlap ratio

Parameters:

[in] ratio the overlap ratio [0..1]

Definition at line 136 of file correspondence_rejection_var_trimmed.h.

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

brief set the minimum overlap ratio

Parameters:

[in] ratio the overlap ratio [0..1]

Definition at line 125 of file correspondence_rejection_var_trimmed.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_rejection_var_trimmed.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_rejection_var_trimmed.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation