iLab Neuromorphic Robotics Toolkit  0.1
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nrt::CorrespondenceRejectionBase Class Referenceabstract

#include <nrt/PointCloud2/Registration/Correspondence/Rejection/CorrespondenceRejectionBase.H>

Base class for all correspondence rejction methods.

Correspondence rejection is the process of pruning a set of candidate correspondences between two point clouds based on some criteria such as distance.

Definition at line 50 of file CorrespondenceRejectionBase.H.

Inheritance diagram for nrt::CorrespondenceRejectionBase:
nrt::CorrespondenceRejectionDistance nrt::CorrespondenceRejectionRANSAC

Public Types

typedef std::shared_ptr
< CorrespondenceRejectionBase
SharedPtr
 Convenience tyepdef for shared ptr to this.
 

Public Member Functions

virtual ~CorrespondenceRejectionBase ()
 Virtual destruction.
 
virtual Correspondences reject (PointCloud2 const source, PointCloud2 const target, Correspondences const correspondences)=0
 Applies some criterion to an input set of correspondences to prune them. More...
 

Member Function Documentation

virtual Correspondences nrt::CorrespondenceRejectionBase::reject ( PointCloud2 const  source,
PointCloud2 const  target,
Correspondences const  correspondences 
)
pure virtual

Applies some criterion to an input set of correspondences to prune them.

Parameters
sourceThe pointcloud where source indices came from
targetThe pointcloud where target indices came from
correspondencesThe correspondences between source and target
Returns
The pruned set of correspondences

Implemented in nrt::CorrespondenceRejectionRANSAC, and nrt::CorrespondenceRejectionDistance.


The documentation for this class was generated from the following file: