Point Cloud Library (PCL)  1.3.1
Classes | Public Member Functions | Static Public Member Functions
pcl::registration::CorrespondenceRejectorFeatures Class Reference

CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...

#include <pcl/registration/correspondence_rejection_features.h>

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List of all members.

Classes

class  FeatureContainer
 An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More...
class  FeatureContainerInterface

Public Member Functions

 CorrespondenceRejectorFeatures ()
 Empty constructor.
void getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
 DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.
template<typename FeatureT >
void setSourceFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &source_feature, const std::string &key)
 Provide a pointer to a cloud of feature descriptors associated with the source point cloud.
template<typename FeatureT >
pcl::PointCloud< FeatureT >
::ConstPtr 
getSourceFeature (const std::string &key)
 Get a pointer to the source cloud's feature descriptors, specified by the given key.
template<typename FeatureT >
void setTargetFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &target_feature, const std::string &key)
 Provide a pointer to a cloud of feature descriptors associated with the target point cloud.
template<typename FeatureT >
pcl::PointCloud< FeatureT >
::ConstPtr 
getTargetFeature (const std::string &key)
 Get a pointer to the source cloud's feature descriptors, specified by the given key.
template<typename FeatureT >
void setDistanceThreshold (double thresh, const std::string &key)
 Set a hard distance threshold in the feature FeatureT space, between source and target features.
bool hasValidFeatures ()
 Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method)
template<typename FeatureT >
void setFeatureRepresentation (const typename pcl::PointRepresentation< FeatureT >::ConstPtr &fr, const std::string &key)
 Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
virtual void setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences.
CorrespondencesConstPtr getInputCorrespondences ()
 Get a pointer to the vector of the input correspondences.
void getCorrespondences (pcl::Correspondences &correspondences)
 Run correspondence rejection.
void getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
 DEPRECATED: 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.

Static Public Member Functions

static bool compareCorrespondencesDistance (const pcl::Correspondence &a, const pcl::Correspondence &b)
 DEPRECATED: Simple comparator for two correspondences.

Detailed Description

CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors.

Given an input feature space, the method checks if each feature in the source cloud has a correspondence in the target cloud, either by checking the first K (given) point correspondences, or by defining a tolerance threshold via a radius in feature space.

Author:
Radu B. Rusu

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorFeatures::CorrespondenceRejectorFeatures ( ) [inline]

Empty constructor.

Definition at line 66 of file correspondence_rejection_features.h.


Member Function Documentation

static bool pcl::registration::CorrespondenceRejector::compareCorrespondencesDistance ( const pcl::Correspondence a,
const pcl::Correspondence b 
) [inline, static, inherited]

DEPRECATED: Simple comparator for two correspondences.

Returns true if the distance of the first correspondence is smaller than the distance of the second.

Parameters:
[in]athe first correspondence
[in]bthe second correspondence

Definition at line 107 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences correspondences) [inline, inherited]

Run correspondence rejection.

Parameters:
[out]correspondencesVector of correspondences that have not been rejected.

Definition at line 78 of file correspondence_rejection.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( ) [inline, inherited]

Get a pointer to the vector of the input correspondences.

Returns:
correspondences the const boost shared pointer to a correspondence vector

Definition at line 72 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices ( const pcl::Correspondences correspondences,
std::vector< int > &  indices 
) [inline, inherited]

DEPRECATED: 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.

Parameters:
[in]correspondencesVector of correspondences after rejection
[out]indicesVector of query point indices of those correspondences that have been rejected.

Definition at line 123 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
) [virtual]

DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters:
original_correspondencesthe set of initial correspondences given
remaining_correspondencesthe resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 66 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature ( const std::string &  key) [inline]

Get a pointer to the source cloud's feature descriptors, specified by the given key.

Parameters:
keya string that uniquely identifies the feature (must match the key provided by setSourceFeature)

Definition at line 102 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature ( const std::string &  key) [inline]

Get a pointer to the source cloud's feature descriptors, specified by the given key.

Parameters:
keya string that uniquely identifies the feature (must match the key provided by setTargetFeature)

Definition at line 122 of file correspondence_rejection_features.hpp.

bool pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures ( ) [inline]

Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method)

Definition at line 145 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold ( double  thresh,
const std::string &  key 
) [inline]

Set a hard distance threshold in the feature FeatureT space, between source and target features.

Any feature correspondence that is above this threshold will be considered bad and will be filtered out.

Parameters:
[in]threshthe distance threshold
[in]keya string that uniquely identifies the feature

Definition at line 135 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation ( const typename pcl::PointRepresentation< FeatureT >::ConstPtr &  fr,
const std::string &  key 
) [inline]

Provide a boost shared pointer to a PointRepresentation to be used when comparing features.

Parameters:
keya string that uniquely identifies the feature
frthe point feature representation to be used

Definition at line 158 of file correspondence_rejection_features.hpp.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr correspondences) [inline, virtual, inherited]

Provide a pointer to the vector of the input correspondences.

Parameters:
[in]correspondencesthe const boost shared pointer to a correspondence vector

Definition at line 63 of file correspondence_rejection.h.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature ( const typename pcl::PointCloud< FeatureT >::ConstPtr &  source_feature,
const std::string &  key 
) [inline]

Provide a pointer to a cloud of feature descriptors associated with the source point cloud.

Parameters:
source_featurea cloud of feature descriptors associated with the source point cloud
keya string that uniquely identifies the feature

Definition at line 92 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature ( const typename pcl::PointCloud< FeatureT >::ConstPtr &  target_feature,
const std::string &  key 
) [inline]

Provide a pointer to a cloud of feature descriptors associated with the target point cloud.

Parameters:
target_featurea cloud of feature descriptors associated with the target point cloud
keya string that uniquely identifies the feature

Definition at line 112 of file correspondence_rejection_features.hpp.


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