43 #include <pcl/registration/correspondence_rejection.h>
46 namespace registration {
67 using Ptr = shared_ptr<CorrespondenceRejectorTrimmed>;
68 using ConstPtr = shared_ptr<const CorrespondenceRejectorTrimmed>;
84 overlap_ratio_ = std::min(1.0f, std::max(0.0f, ratio));
92 return overlap_ratio_;
105 nr_min_correspondences_ = min_correspondences;
112 return nr_min_correspondences_;
131 getRemainingCorrespondences(*input_correspondences_, correspondences);
135 float overlap_ratio_{0.5f};
138 unsigned int nr_min_correspondences_{0};
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 getMinCorrespondences() const
Get the minimum number of correspondences.
CorrespondencesConstPtr input_correspondences_
The input correspondences.
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.