Point Cloud Library (PCL) 1.15.0
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correspondence_rejection_trimmed.h
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40
41#pragma once
42
43#include <pcl/registration/correspondence_rejection.h>
44
45namespace pcl {
46namespace registration {
47/** \brief CorrespondenceRejectorTrimmed implements a correspondence
48 * rejection for ICP-like registration algorithms that uses only the best
49 * 'k' correspondences where 'k' is some estimate of the overlap between
50 * the two point clouds being registered.
51 *
52 * Reference:
53 * 'The Trimmed Iterative Closest Point Algorithm' by
54 * D. Chetverikov, D. Svirko, D. Stepanov, and Pavel Krsek.
55 * In Proceedings of the 16th International Conference on Pattern
56 * Recognition (ICPR 2002).
57 *
58 * \author Dirk Holz
59 * \ingroup registration
60 */
62 using CorrespondenceRejector::getClassName;
63 using CorrespondenceRejector::input_correspondences_;
64 using CorrespondenceRejector::rejection_name_;
65
66public:
67 using Ptr = shared_ptr<CorrespondenceRejectorTrimmed>;
68 using ConstPtr = shared_ptr<const CorrespondenceRejectorTrimmed>;
69
70 /** \brief Empty constructor. */
71 CorrespondenceRejectorTrimmed() { rejection_name_ = "CorrespondenceRejectorTrimmed"; }
72
73 /** \brief Destructor. */
74 ~CorrespondenceRejectorTrimmed() override = default;
75
76 /** \brief Set the expected ratio of overlap between point clouds (in
77 * terms of correspondences).
78 * \param[in] ratio ratio of overlap between 0 (no overlap, no
79 * correspondences) and 1 (full overlap, all correspondences)
80 */
81 virtual inline void
82 setOverlapRatio(float ratio)
83 {
84 overlap_ratio_ = std::min(1.0f, std::max(0.0f, ratio));
85 };
86
87 /** \brief Get the maximum distance used for thresholding in correspondence rejection.
88 */
89 inline float
91 {
92 return overlap_ratio_;
93 };
94
95 /** \brief Set a minimum number of correspondences. If the specified overlap ratio
96 * causes to have less correspondences, \a CorrespondenceRejectorTrimmed will try to
97 * return at least \a nr_min_correspondences_ correspondences (or all correspondences
98 * in case \a nr_min_correspondences_ is less than the number of given
99 * correspondences). \param[in] min_correspondences the minimum number of
100 * correspondences
101 */
102 inline void
103 setMinCorrespondences(unsigned int min_correspondences)
104 {
105 nr_min_correspondences_ = min_correspondences;
106 };
107
108 /** \brief Get the minimum number of correspondences. */
109 inline unsigned int
111 {
112 return nr_min_correspondences_;
113 };
114
115 /** \brief Get a list of valid correspondences after rejection from the original set
116 * of correspondences. \param[in] original_correspondences the set of initial
117 * correspondences given \param[out] remaining_correspondences the resultant filtered
118 * set of remaining correspondences
119 */
120 void
121 getRemainingCorrespondences(const pcl::Correspondences& original_correspondences,
122 pcl::Correspondences& remaining_correspondences) override;
123
124protected:
125 /** \brief Apply the rejection algorithm.
126 * \param[out] correspondences the set of resultant correspondences.
127 */
128 inline void
129 applyRejection(pcl::Correspondences& correspondences) override
130 {
131 getRemainingCorrespondences(*input_correspondences_, correspondences);
132 }
133
134 /** Overlap Ratio in [0..1] */
135 float overlap_ratio_{0.5f};
136
137 /** Minimum number of correspondences. */
138 unsigned int nr_min_correspondences_{0};
139};
140
141} // namespace registration
142} // namespace pcl
CorrespondenceRejector represents the base class for correspondence rejection methods
CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorit...
void setMinCorrespondences(unsigned int min_correspondences)
Set a minimum number of correspondences.
float getOverlapRatio() const
Get the maximum distance used for thresholding in correspondence rejection.
unsigned int getMinCorrespondences() const
Get the minimum number of correspondences.
~CorrespondenceRejectorTrimmed() override=default
Destructor.
shared_ptr< const CorrespondenceRejectorTrimmed > ConstPtr
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.
virtual void setOverlapRatio(float ratio)
Set the expected ratio of overlap between point clouds (in terms of correspondences).
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences