CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences. More...

#include <pcl/registration/correspondence_rejection_median_distance.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorMedianDistance:

Collaboration diagram for pcl::registration::CorrespondenceRejectorMedianDistance:

Public Types
using	Ptr = shared_ptr< CorrespondenceRejectorMedianDistance >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorMedianDistance >

Public Types inherited from pcl::registration::CorrespondenceRejector
using	Ptr = shared_ptr< CorrespondenceRejector >

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

Public Member Functions
	CorrespondenceRejectorMedianDistance ()
	Empty constructor. More...

void	getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override
	Get a list of valid correspondences after rejection from the original set of correspondences. More...

double	getMedianDistance () const
	Get the median 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	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 override
	See if this rejector requires source points. More...

void	setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2) override
	Blob method for setting the source cloud. More...

bool	requiresTargetPoints () const override
	See if this rejector requires a target cloud. More...

void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) override
	Method for setting the target cloud. More...

template<typename PointT >
void	setSearchMethodTarget (const typename pcl::search::KdTree< PointT >::Ptr &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

void	setMedianFactor (double factor)
	Set the factor for correspondence rejection. More...

double	getMedianFactor () const
	Get the factor used for thresholding in correspondence rejection. More...

Public Member Functions inherited from pcl::registration::CorrespondenceRejector
	CorrespondenceRejector ()=default
	Empty constructor. More...

virtual	~CorrespondenceRejector ()=default
	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, pcl::Indices &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
using	DataContainerPtr = DataContainerInterface::Ptr

Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences) override
	Apply the rejection algorithm. More...

Protected Attributes
double	median_distance_ {0.0}
	The median distance threshold between two correspondent points in source <-> target. More...

double	factor_ {1.0}
	The factor for correspondence rejection. 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

CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences.

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 61 of file correspondence_rejection_median_distance.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::registration::CorrespondenceRejectorMedianDistance::ConstPtr = shared_ptr<const CorrespondenceRejectorMedianDistance>

Definition at line 68 of file correspondence_rejection_median_distance.h.

◆ DataContainerPtr

using pcl::registration::CorrespondenceRejectorMedianDistance::DataContainerPtr = DataContainerInterface::Ptr

protected

Definition at line 203 of file correspondence_rejection_median_distance.h.

◆ Ptr

using pcl::registration::CorrespondenceRejectorMedianDistance::Ptr = shared_ptr<CorrespondenceRejectorMedianDistance>

Definition at line 67 of file correspondence_rejection_median_distance.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorMedianDistance()

pcl::registration::CorrespondenceRejectorMedianDistance::CorrespondenceRejectorMedianDistance ( )

inline

Empty constructor.

Definition at line 71 of file correspondence_rejection_median_distance.h.

Member Function Documentation

◆ applyRejection()

void pcl::registration::CorrespondenceRejectorMedianDistance::applyRejection ( pcl::Correspondences & correspondences )

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 188 of file correspondence_rejection_median_distance.h.

◆ getMedianDistance()

double pcl::registration::CorrespondenceRejectorMedianDistance::getMedianDistance ( ) const

inline

Get the median distance used for thresholding in correspondence rejection.

Definition at line 88 of file correspondence_rejection_median_distance.h.

◆ getMedianFactor()

double pcl::registration::CorrespondenceRejectorMedianDistance::getMedianFactor ( ) const

inline

Get the factor used for thresholding in correspondence rejection.

Definition at line 178 of file correspondence_rejection_median_distance.h.

◆ getRemainingCorrespondences()

void pcl::registration::CorrespondenceRejectorMedianDistance::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)

overridevirtual

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.

◆ requiresSourcePoints()

bool pcl::registration::CorrespondenceRejectorMedianDistance::requiresSourcePoints ( ) const

inlineoverridevirtual

See if this rejector requires source points.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 121 of file correspondence_rejection_median_distance.h.

◆ requiresTargetPoints()

bool pcl::registration::CorrespondenceRejectorMedianDistance::requiresTargetPoints ( ) const

inlineoverridevirtual

See if this rejector requires a target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 137 of file correspondence_rejection_median_distance.h.

◆ setInputSource()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::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] cloud a cloud containing XYZ data

Definition at line 99 of file correspondence_rejection_median_distance.h.

◆ setInputTarget()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::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 112 of file correspondence_rejection_median_distance.h.

◆ setMedianFactor()

void pcl::registration::CorrespondenceRejectorMedianDistance::setMedianFactor ( double factor )

inline

Set the factor for correspondence rejection.

Points with distance greater than median times factor will be rejected

Parameters

[in] factor value

Definition at line 171 of file correspondence_rejection_median_distance.h.

◆ setSearchMethodTarget()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::setSearchMethodTarget	(	const typename pcl::search::KdTree< PointT >::Ptr &	tree,
		bool	force_no_recompute = `false`
	)

inline

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

Parameters

[in]	tree	a pointer to the spatial search object.
[in]	force_no_recompute	If 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 160 of file correspondence_rejection_median_distance.h.