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
CorrespondenceRejector represents the base class for correspondence rejection methods ...
void applyRejection(pcl::Correspondences &correspondences) override
Apply the rejection algorithm.
CorrespondenceRejectorTrimmed()
Empty constructor.
const std::string & getClassName() const
Get a string representation of the name of this class.
unsigned int nr_min_correspondences_
Minimum number of correspondences.
float overlap_ratio_
Overlap Ratio in [0..1].
unsigned int getMinCorrespondences() const
Get the minimum number of correspondences.
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
float getOverlapRatio() const
Get the maximum distance used for thresholding in correspondence rejection.
CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorit...
void setMinCorrespondences(unsigned int min_correspondences)
Set a minimum number of correspondences.