42#include <pcl/registration/correspondence_rejection.h>
43#include <pcl/conversions.h>
45#include <pcl/point_cloud.h>
50namespace registration {
66 using CorrespondenceRejector::getClassName;
67 using CorrespondenceRejector::input_correspondences_;
68 using CorrespondenceRejector::rejection_name_;
76 : trimmed_distance_(0), factor_(), min_ratio_(0.05), max_ratio_(0.95), lambda_(0.95)
78 rejection_name_ =
"CorrespondenceRejectorVarTrimmed";
95 return trimmed_distance_;
102 template <
typename Po
intT>
106 if (!data_container_)
115 template <
typename Po
intT>
119 if (!data_container_)
163 template <
typename Po
intT>
221 getRemainingCorrespondences(*input_correspondences_, correspondences);
259 optimizeInlierRatio(std::vector<double>& dists)
const;
Iterator class for point clouds with or without given indices.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
CorrespondenceRejector represents the base class for correspondence rejection methods
CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as...
bool requiresSourcePoints() const override
See if this rejector requires source points.
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
void setTargetPoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Method for setting the target cloud.
void setMaxRatio(double ratio)
brief set the maximum overlap ratio
double trimmed_distance_
The inlier distance threshold (based on the computed trim factor) between two correspondent points in...
void setInputSource(const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
double getMaxRatio() const
brief get the maximum overlap ratio
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.
void setInputTarget(const typename pcl::PointCloud< PointT >::ConstPtr &target)
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...
DataContainerInterface::Ptr DataContainerPtr
void setSourcePoints(pcl::PCLPointCloud2::ConstPtr cloud2) override
Blob method for setting the source cloud.
double getTrimmedDistance() const
Get the trimmed distance used for thresholding in correspondence rejection.
void setMinRatio(double ratio)
brief set the minimum overlap ratio
CorrespondenceRejectorVarTrimmed()
Empty constructor.
DataContainerPtr data_container_
A pointer to the DataContainer object containing the input and target point clouds.
double lambda_
part of the term that balances the root mean square difference.
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.
double getMinRatio() const
brief get the minimum overlap ratio
double min_ratio_
The minimum overlap ratio between the input and target clouds.
double factor_
The factor for correspondence rejection.
bool requiresTargetPoints() const override
See if this rejector requires a target cloud.
double max_ratio_
The maximum overlap ratio between the input and target clouds.
double getTrimFactor() const
Get the computed inlier ratio used for thresholding in correspondence rejection.
shared_ptr< DataContainerInterface > Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Defines functions, macros and traits for allocating and using memory.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr