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:

Collaboration diagram for pcl::registration::CorrespondenceRejectorVarTrimmed:

Public Types
using	Ptr = shared_ptr< CorrespondenceRejectorVarTrimmed >

using	ConstPtr = shared_ptr< const CorrespondenceRejectorVarTrimmed >

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

using	ConstPtr = shared_ptr< const CorrespondenceRejector >

Public Member Functions
	CorrespondenceRejectorVarTrimmed ()
	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	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	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...

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 ()=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	trimmed_distance_ {0}
	The inlier distance threshold (based on the computed trim factor) between two correspondent points in source <-> target. More...

double	factor_ {0.0}
	The factor for correspondence rejection. More...

double	min_ratio_ {0.05}
	The minimum overlap ratio between the input and target clouds. More...

double	max_ratio_ {0.95}
	The maximum overlap ratio between the input and target clouds. More...

double	lambda_ {0.95}
	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 65 of file correspondence_rejection_var_trimmed.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 72 of file correspondence_rejection_var_trimmed.h.

◆ DataContainerPtr

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

protected

Definition at line 247 of file correspondence_rejection_var_trimmed.h.

◆ Ptr

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

Definition at line 71 of file correspondence_rejection_var_trimmed.h.

Constructor & Destructor Documentation

◆ CorrespondenceRejectorVarTrimmed()

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

inline

Empty constructor.

Definition at line 75 of file correspondence_rejection_var_trimmed.h.

Member Function Documentation

◆ applyRejection()

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

inlineoverrideprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 218 of file correspondence_rejection_var_trimmed.h.

◆ getMaxRatio()

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

inline

brief get the maximum overlap ratio

Definition at line 208 of file correspondence_rejection_var_trimmed.h.

◆ getMinRatio()

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

inline

brief get the minimum overlap ratio

Definition at line 191 of file correspondence_rejection_var_trimmed.h.

◆ getRemainingCorrespondences()

void pcl::registration::CorrespondenceRejectorVarTrimmed::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.

◆ getTrimFactor()

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

inline

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

Definition at line 174 of file correspondence_rejection_var_trimmed.h.

◆ getTrimmedDistance()

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

inline

Get the trimmed distance used for thresholding in correspondence rejection.

Definition at line 92 of file correspondence_rejection_var_trimmed.h.

◆ requiresSourcePoints()

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

inlineoverridevirtual

See if this rejector requires source points.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 125 of file correspondence_rejection_var_trimmed.h.

◆ requiresTargetPoints()

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

inlineoverridevirtual

See if this rejector requires a target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 141 of file correspondence_rejection_var_trimmed.h.

◆ setInputSource()

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] cloud a cloud containing XYZ data

Definition at line 103 of file correspondence_rejection_var_trimmed.h.

◆ setInputTarget()

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 116 of file correspondence_rejection_var_trimmed.h.

◆ setMaxRatio()

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 200 of file correspondence_rejection_var_trimmed.h.

◆ setMinRatio()

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 183 of file correspondence_rejection_var_trimmed.h.

◆ setSearchMethodTarget()

template<typename PointT >

void pcl::registration::CorrespondenceRejectorVarTrimmed::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 164 of file correspondence_rejection_var_trimmed.h.

◆ setSourcePoints()

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

inlineoverridevirtual

Blob method for setting the source cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 132 of file correspondence_rejection_var_trimmed.h.

References pcl::fromPCLPointCloud2().

◆ setTargetPoints()

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

inlineoverridevirtual

Method for setting the target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 148 of file correspondence_rejection_var_trimmed.h.

References pcl::fromPCLPointCloud2().

Member Data Documentation

◆ data_container_

DataContainerPtr pcl::registration::CorrespondenceRejectorVarTrimmed::data_container_

protected

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

Definition at line 251 of file correspondence_rejection_var_trimmed.h.

◆ factor_

double pcl::registration::CorrespondenceRejectorVarTrimmed::factor_ {0.0}

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 232 of file correspondence_rejection_var_trimmed.h.

◆ lambda_

double pcl::registration::CorrespondenceRejectorVarTrimmed::lambda_ {0.95}

protected

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

This is an internal parameter

Definition at line 245 of file correspondence_rejection_var_trimmed.h.

◆ max_ratio_

double pcl::registration::CorrespondenceRejectorVarTrimmed::max_ratio_ {0.95}

protected

The maximum overlap ratio between the input and target clouds.

Definition at line 240 of file correspondence_rejection_var_trimmed.h.

◆ min_ratio_

double pcl::registration::CorrespondenceRejectorVarTrimmed::min_ratio_ {0.05}

protected

The minimum overlap ratio between the input and target clouds.

Definition at line 236 of file correspondence_rejection_var_trimmed.h.

◆ trimmed_distance_

double pcl::registration::CorrespondenceRejectorVarTrimmed::trimmed_distance_ {0}

protected

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

Definition at line 226 of file correspondence_rejection_var_trimmed.h.

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

pcl/registration/correspondence_rejection_var_trimmed.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ DataContainerPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CorrespondenceRejectorVarTrimmed()

Member Function Documentation

◆ applyRejection()

◆ getMaxRatio()

◆ getMinRatio()

◆ getRemainingCorrespondences()

◆ getTrimFactor()

◆ getTrimmedDistance()

◆ requiresSourcePoints()

◆ requiresTargetPoints()

◆ setInputSource()

◆ setInputTarget()

◆ setMaxRatio()

◆ setMinRatio()

◆ setSearchMethodTarget()

◆ setSourcePoints()

◆ setTargetPoints()

Member Data Documentation

◆ data_container_

◆ factor_

◆ lambda_

◆ max_ratio_

◆ min_ratio_

◆ trimmed_distance_