CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorithms that uses only the best 'k' correspondences where 'k' is some estimate of the overlap between the two point clouds being registered. More...

#include <pcl/registration/correspondence_rejection_trimmed.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorTrimmed:

Collaboration diagram for pcl::registration::CorrespondenceRejectorTrimmed:

Public Types
using	Ptr = shared_ptr< CorrespondenceRejectorTrimmed >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorTrimmed >

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

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

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

	~CorrespondenceRejectorTrimmed () override=default
	Destructor. More...

virtual void	setOverlapRatio (float ratio)
	Set the expected ratio of overlap between point clouds (in terms of correspondences). More...

float	getOverlapRatio () const
	Get the maximum distance used for thresholding in correspondence rejection. More...

void	setMinCorrespondences (unsigned int min_correspondences)
	Set a minimum number of correspondences. More...

unsigned int	getMinCorrespondences () const
	Get the minimum number of correspondences. 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...

Protected Attributes
float	overlap_ratio_ {0.5f}
	Overlap Ratio in [0..1]. More...

unsigned int	nr_min_correspondences_ {0}
	Minimum number of correspondences. 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

CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorithms that uses only the best 'k' correspondences where 'k' is some estimate of the overlap between the two point clouds being registered.

Reference: 'The Trimmed Iterative Closest Point Algorithm' by D. Chetverikov, D. Svirko, D. Stepanov, and Pavel Krsek. In Proceedings of the 16th International Conference on Pattern Recognition (ICPR 2002).

Author: Dirk Holz

Definition at line 61 of file correspondence_rejection_trimmed.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 68 of file correspondence_rejection_trimmed.h.

◆ Ptr

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

Definition at line 67 of file correspondence_rejection_trimmed.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorTrimmed()

pcl::registration::CorrespondenceRejectorTrimmed::CorrespondenceRejectorTrimmed ( )

inline

Empty constructor.

Definition at line 71 of file correspondence_rejection_trimmed.h.

◆ ~CorrespondenceRejectorTrimmed()

pcl::registration::CorrespondenceRejectorTrimmed::~CorrespondenceRejectorTrimmed ( )

overridedefault

Destructor.

Member Function Documentation

◆ applyRejection()

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

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 129 of file correspondence_rejection_trimmed.h.

◆ getMinCorrespondences()

unsigned int pcl::registration::CorrespondenceRejectorTrimmed::getMinCorrespondences ( ) const

inline

Get the minimum number of correspondences.

Definition at line 110 of file correspondence_rejection_trimmed.h.

◆ getOverlapRatio()

float pcl::registration::CorrespondenceRejectorTrimmed::getOverlapRatio ( ) const

inline

Get the maximum distance used for thresholding in correspondence rejection.

Definition at line 90 of file correspondence_rejection_trimmed.h.

◆ getRemainingCorrespondences()

void pcl::registration::CorrespondenceRejectorTrimmed::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.

◆ setMinCorrespondences()

void pcl::registration::CorrespondenceRejectorTrimmed::setMinCorrespondences ( unsigned int min_correspondences )

inline

Set a minimum number of correspondences.

If the specified overlap ratio causes to have less correspondences, CorrespondenceRejectorTrimmed will try to return at least nr_min_correspondences_ correspondences (or all correspondences in case nr_min_correspondences_ is less than the number of given correspondences).

Parameters

[in] min_correspondences the minimum number of correspondences

Definition at line 103 of file correspondence_rejection_trimmed.h.

◆ setOverlapRatio()

virtual void pcl::registration::CorrespondenceRejectorTrimmed::setOverlapRatio ( float ratio )

inlinevirtual

Set the expected ratio of overlap between point clouds (in terms of correspondences).

Parameters

[in] ratio ratio of overlap between 0 (no overlap, no correspondences) and 1 (full overlap, all correspondences)

Definition at line 82 of file correspondence_rejection_trimmed.h.

Member Data Documentation

◆ nr_min_correspondences_

unsigned int pcl::registration::CorrespondenceRejectorTrimmed::nr_min_correspondences_ {0}

protected

Minimum number of correspondences.

Definition at line 138 of file correspondence_rejection_trimmed.h.

◆ overlap_ratio_

float pcl::registration::CorrespondenceRejectorTrimmed::overlap_ratio_ {0.5f}

protected

Overlap Ratio in [0..1].

Definition at line 135 of file correspondence_rejection_trimmed.h.

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

pcl/registration/correspondence_rejection_trimmed.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CorrespondenceRejectorTrimmed()

◆ ~CorrespondenceRejectorTrimmed()

Member Function Documentation

◆ applyRejection()

◆ getMinCorrespondences()

◆ getOverlapRatio()

◆ getRemainingCorrespondences()

◆ setMinCorrespondences()

◆ setOverlapRatio()

Member Data Documentation

◆ nr_min_correspondences_

◆ overlap_ratio_