CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating duplicate match indices in the correspondences. More...

#include <pcl/registration/correspondence_rejection_one_to_one.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorOneToOne:

Collaboration diagram for pcl::registration::CorrespondenceRejectorOneToOne:

Public Types
using	Ptr = shared_ptr< CorrespondenceRejectorOneToOne >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorOneToOne >

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

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

Public Member Functions
	CorrespondenceRejectorOneToOne ()
	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...

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	requiresSourcePoints () const
	See if this rejector requires source points. More...

virtual void	setSourcePoints (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the source cloud. 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	requiresTargetPoints () const
	See if this rejector requires a target cloud. More...

virtual void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr)
	Abstract method for setting the target cloud. 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 Member Functions
void	applyRejection (pcl::Correspondences &correspondences) override
	Apply the rejection algorithm. More...

Additional Inherited Members
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

CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating duplicate match indices in the correspondences.

Correspondences with the same match index are removed and only the one with smallest distance between query and match are kept. That is, considering match->query 1-m correspondences are removed leaving only 1-1 correspondences.

Author: Dirk Holz

Definition at line 56 of file correspondence_rejection_one_to_one.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 63 of file correspondence_rejection_one_to_one.h.

◆ Ptr

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

Definition at line 62 of file correspondence_rejection_one_to_one.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorOneToOne()

pcl::registration::CorrespondenceRejectorOneToOne::CorrespondenceRejectorOneToOne ( )

inline

Empty constructor.

Definition at line 66 of file correspondence_rejection_one_to_one.h.

Member Function Documentation

◆ applyRejection()

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

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 85 of file correspondence_rejection_one_to_one.h.

◆ getRemainingCorrespondences()

void pcl::registration::CorrespondenceRejectorOneToOne::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.

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

pcl/registration/correspondence_rejection_one_to_one.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members