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:

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Collaboration diagram for pcl::registration::CorrespondenceRejectorMedianDistance:

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

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. More...

double	getMedianDistance () const
	Get the median distance used for thresholding in correspondence rejection. More...

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. 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...

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

double	getMedianFactor () const
	Get the factor used for thresholding in correspondence rejection. 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, 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. 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 60 of file correspondence_rejection_median_distance.h.

Constructor & Destructor Documentation

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

inline

Empty constructor.

Definition at line 69 of file correspondence_rejection_median_distance.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences & correspondences )

inlineinherited

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 ( )

inlineinherited

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::CorrespondenceRejectorMedianDistance::getMedianDistance ( ) const

inline

Get the median distance used for thresholding in correspondence rejection.

Definition at line 86 of file correspondence_rejection_median_distance.h.

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

inline

Get the factor used for thresholding in correspondence rejection.

Definition at line 121 of file correspondence_rejection_median_distance.h.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices	(	const pcl::Correspondences &	correspondences,
		std::vector< int > &	indices
	)

inlineinherited

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

inlinevirtual

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 45 of file correspondence_rejection_median_distance.hpp.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorMedianDistance::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 93 of file correspondence_rejection_median_distance.h.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr & correspondences )

inlinevirtualinherited

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::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 105 of file correspondence_rejection_median_distance.h.

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 117 of file correspondence_rejection_median_distance.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_rejection_median_distance.h
/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_rejection_median_distance.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation