43 #include <pcl/registration/correspondence_rejection.h> 47 namespace registration
70 using Ptr = shared_ptr<CorrespondenceRejectorTrimmed>;
71 using ConstPtr = shared_ptr<const CorrespondenceRejectorTrimmed>;
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> shared_ptr< const CorrespondenceRejector > ConstPtr
virtual void setOverlapRatio(float ratio)
Set the expected ratio of overlap between point clouds (in terms of correspondences).
shared_ptr< CorrespondenceRejector > Ptr
float getOverlapRatio() const
Get the maximum distance used for thresholding in correspondence rejection.
CorrespondenceRejector represents the base class for correspondence rejection methods ...
unsigned int getMinCorrespondences() const
Get the minimum number of correspondences.
void applyRejection(pcl::Correspondences &correspondences) override
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.
float overlap_ratio_
Overlap Ratio in [0..1].
CorrespondencesConstPtr input_correspondences_
The input correspondences.
~CorrespondenceRejectorTrimmed()
Destructor.
std::string rejection_name_
The name of the rejection method.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorit...
void setMinCorrespondences(unsigned int min_correspondences)
Set a minimum number of correspondences.