iLab Neuromorphic Robotics Toolkit  0.1
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nrt::CorrespondenceRejectionDistance Class Reference

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

Rejects correspondences based on some threshold distance.

The threshold distance will be applied to the score field of the correspondences to determine whether they are within range.

Examples:
tests/test-PointCloud2OpenNI.C, and tests/test-PointCloud2Registration.C.

Definition at line 48 of file CorrespondenceRejectionDistance.H.

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

Public Member Functions

 CorrespondenceRejectionDistance (float distance=std::sqrt(std::numeric_limits< float >::max()))
 Create with some distance threshold. More...
 
Correspondences reject (PointCloud2 const source, PointCloud2 const target, Correspondences const correspondences)
 Applies some criterion to an input set of correspondences to prune them. More...
 
- Public Member Functions inherited from nrt::CorrespondenceRejectionBase
virtual ~CorrespondenceRejectionBase ()
 Virtual destruction.
 

Additional Inherited Members

- Public Types inherited from nrt::CorrespondenceRejectionBase
typedef std::shared_ptr
< CorrespondenceRejectionBase
SharedPtr
 Convenience tyepdef for shared ptr to this.
 

Constructor & Destructor Documentation

nrt::CorrespondenceRejectionDistance::CorrespondenceRejectionDistance ( float  distance = std::sqrt(std::numeric_limits< float >::max()))

Create with some distance threshold.

Parameters
distanceThe distance threshold in meters

Member Function Documentation

Correspondences nrt::CorrespondenceRejectionDistance::reject ( PointCloud2 const  source,
PointCloud2 const  target,
Correspondences const  correspondences 
)
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

Implements nrt::CorrespondenceRejectionBase.


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