Point Cloud Library (PCL)
1.8.0
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CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences. More...
#include <pcl/registration/correspondence_rejection_distance.h>
Public Types | |
typedef boost::shared_ptr< CorrespondenceRejectorDistance > | Ptr |
typedef boost::shared_ptr< const CorrespondenceRejectorDistance > | ConstPtr |
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typedef boost::shared_ptr< CorrespondenceRejector > | Ptr |
typedef boost::shared_ptr< const CorrespondenceRejector > | ConstPtr |
Public Member Functions | |
CorrespondenceRejectorDistance () | |
Empty constructor. More... | |
virtual | ~CorrespondenceRejectorDistance () |
Empty destructor. More... | |
void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) |
Get a list of valid correspondences after rejection from the original set of correspondences. More... | |
virtual void | setMaximumDistance (float distance) |
Set the maximum distance used for thresholding in correspondence rejection. More... | |
float | getMaximumDistance () |
Get the maximum distance used for thresholding in correspondence rejection. More... | |
template<typename PointT > | |
void | setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... | |
template<typename PointT > | |
void | setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... | |
template<typename PointT > | |
void | setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &target) |
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... | |
bool | requiresSourcePoints () const |
See if this rejector requires source points. More... | |
void | setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2) |
Blob method for setting the source cloud. More... | |
bool | requiresTargetPoints () const |
See if this rejector requires a target cloud. More... | |
void | setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) |
Method for setting the target cloud. More... | |
template<typename PointT > | |
void | setSearchMethodTarget (const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false) |
Provide a pointer to the search object used to find correspondences in the target cloud. More... | |
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CorrespondenceRejector () | |
Empty constructor. More... | |
virtual | ~CorrespondenceRejector () |
Empty destructor. More... | |
virtual void | setInputCorrespondences (const CorrespondencesConstPtr &correspondences) |
Provide a pointer to the vector of the input correspondences. More... | |
CorrespondencesConstPtr | getInputCorrespondences () |
Get a pointer to the vector of the input correspondences. More... | |
void | getCorrespondences (pcl::Correspondences &correspondences) |
Run correspondence rejection. More... | |
void | getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices) |
Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via setInputCorrespondences) and the given correspondence vector. More... | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | requiresSourceNormals () const |
See if this rejector requires source normals. More... | |
virtual void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the source normals. More... | |
virtual bool | requiresTargetNormals () const |
See if this rejector requires target normals. More... | |
virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the target normals. More... | |
Protected Types | |
typedef boost::shared_ptr< DataContainerInterface > | DataContainerPtr |
Protected Member Functions | |
void | applyRejection (pcl::Correspondences &correspondences) |
Apply the rejection algorithm. More... | |
Protected Attributes | |
float | max_distance_ |
The maximum distance threshold between two correspondent points in source <-> target. More... | |
DataContainerPtr | data_container_ |
A pointer to the DataContainer object containing the input and target point clouds. More... | |
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std::string | rejection_name_ |
The name of the rejection method. More... | |
CorrespondencesConstPtr | input_correspondences_ |
The input correspondences. More... | |
CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences.
Definition at line 61 of file correspondence_rejection_distance.h.
typedef boost::shared_ptr<const CorrespondenceRejectorDistance> pcl::registration::CorrespondenceRejectorDistance::ConstPtr |
Definition at line 69 of file correspondence_rejection_distance.h.
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protected |
Definition at line 199 of file correspondence_rejection_distance.h.
typedef boost::shared_ptr<CorrespondenceRejectorDistance> pcl::registration::CorrespondenceRejectorDistance::Ptr |
Definition at line 68 of file correspondence_rejection_distance.h.
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inline |
Empty constructor.
Definition at line 72 of file correspondence_rejection_distance.h.
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inlinevirtual |
Empty destructor.
Definition at line 79 of file correspondence_rejection_distance.h.
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inlineprotectedvirtual |
Apply the rejection algorithm.
[out] | correspondences | the set of resultant correspondences. |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 189 of file correspondence_rejection_distance.h.
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inline |
Get the maximum distance used for thresholding in correspondence rejection.
Definition at line 99 of file correspondence_rejection_distance.h.
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virtual |
Get a list of valid correspondences after rejection from the original set of correspondences.
[in] | original_correspondences | the set of initial correspondences given |
[out] | remaining_correspondences | the resultant filtered set of remaining correspondences |
Implements pcl::registration::CorrespondenceRejector.
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inlinevirtual |
See if this rejector requires source points.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 141 of file correspondence_rejection_distance.h.
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inlinevirtual |
See if this rejector requires a target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 155 of file correspondence_rejection_distance.h.
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Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | cloud | a cloud containing XYZ data |
Definition at line 106 of file correspondence_rejection_distance.h.
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inline |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | cloud | a cloud containing XYZ data |
Definition at line 119 of file correspondence_rejection_distance.h.
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inline |
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
[in] | target | a cloud containing XYZ data |
Definition at line 131 of file correspondence_rejection_distance.h.
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inlinevirtual |
Set the maximum distance used for thresholding in correspondence rejection.
[in] | distance | Distance to be used as maximum distance between correspondences. Correspondences with larger distances are rejected. |
Definition at line 95 of file correspondence_rejection_distance.h.
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inline |
Provide a pointer to the search object used to find correspondences in the target cloud.
[in] | tree | a pointer to the spatial search object. |
[in] | force_no_recompute | If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly. |
Definition at line 175 of file correspondence_rejection_distance.h.
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inlinevirtual |
Blob method for setting the source cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 146 of file correspondence_rejection_distance.h.
References pcl::fromPCLPointCloud2().
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inlinevirtual |
Method for setting the target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 160 of file correspondence_rejection_distance.h.
References pcl::fromPCLPointCloud2().
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A pointer to the DataContainer object containing the input and target point clouds.
Definition at line 202 of file correspondence_rejection_distance.h.
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protected |
The maximum distance threshold between two correspondent points in source <-> target.
If the distance is larger than this threshold, the points will not be ignored in the alignment process.
Definition at line 197 of file correspondence_rejection_distance.h.