40 #ifndef PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_ 41 #define PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_ 43 #include <pcl/registration/correspondence_rejection.h> 47 namespace registration
70 typedef boost::shared_ptr<CorrespondenceRejectorTrimmed>
Ptr;
71 typedef boost::shared_ptr<const CorrespondenceRejectorTrimmed>
ConstPtr;
75 overlap_ratio_ (0.5f),
76 nr_min_correspondences_ (0)
78 rejection_name_ =
"CorrespondenceRejectorTrimmed";
90 setOverlapRatio (
float ratio) { overlap_ratio_ = std::min (1.0f, std::max (0.0f, ratio)); };
126 getRemainingCorrespondences (*input_correspondences_, correspondences);
139 #include <pcl/registration/impl/correspondence_rejection_trimmed.hpp> 141 #endif // PCL_REGISTRATION_CORRESPONDENCE_REJECTION_TRIMMED_H_ virtual void setOverlapRatio(float ratio)
Set the expected ratio of overlap between point clouds (in terms of correspondences).
boost::shared_ptr< CorrespondenceRejectorTrimmed > Ptr
This file defines compatibility wrappers for low level I/O functions.
CorrespondenceRejector represents the base class for correspondence rejection methods ...
boost::shared_ptr< const CorrespondenceRejectorTrimmed > ConstPtr
float getOverlapRatio()
Get the maximum distance used for thresholding in correspondence rejection.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
const std::string & getClassName() const
Get a string representation of the name of this class.
CorrespondenceRejectorTrimmed()
Empty constructor.
unsigned int nr_min_correspondences_
Minimum number of correspondences.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
virtual ~CorrespondenceRejectorTrimmed()
Destructor.
float overlap_ratio_
Overlap Ratio in [0..1].
unsigned int getMinCorrespondences()
Get the minimum number of correspondences.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
std::string rejection_name_
The name of the rejection method.
CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorit...
void setMinCorrespondences(unsigned int min_correspondences)
Set a minimum number of correspondences.