Point Cloud Library (PCL)  1.14.1-dev
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pcl::registration::CorrespondenceRejectorVarTrimmed Class Reference

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_ {0.0}
 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

Definition at line 72 of file correspondence_rejection_var_trimmed.h.

◆ DataContainerPtr

Definition at line 247 of file correspondence_rejection_var_trimmed.h.

◆ Ptr

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]correspondencesthe 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_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe 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]clouda 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]targeta 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]ratiothe 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]ratiothe 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]treea pointer to the spatial search object.
[in]force_no_recomputeIf 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_ {0.0}
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: