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_
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorit...
CorrespondenceRejector represents the base class for correspondence rejection methods ...
CorrespondenceRejectorTrimmed()
Empty constructor.
boost::shared_ptr< CorrespondenceRejectorTrimmed > Ptr
boost::shared_ptr< const CorrespondenceRejectorTrimmed > ConstPtr
unsigned int nr_min_correspondences_
Minimum number of correspondences.
std::string rejection_name_
The name of the rejection method.
virtual void setOverlapRatio(float ratio)
Set the expected ratio of overlap between point clouds (in terms of correspondences).
unsigned int getMinCorrespondences()
Get the minimum number of correspondences.
virtual ~CorrespondenceRejectorTrimmed()
Destructor.
void applyRejection(pcl::Correspondences &correspondences)
Apply the rejection algorithm.
float overlap_ratio_
Overlap Ratio in [0..1].
CorrespondencesConstPtr input_correspondences_
The input correspondences.
float getOverlapRatio()
Get the maximum distance used for thresholding in correspondence rejection.
const std::string & getClassName() const
Get a string representation of the name of this class.
void setMinCorrespondences(unsigned int min_correspondences)
Set a minimum number of correspondences.