CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences. More...

#include <pcl/registration/correspondence_rejection_distance.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorDistance:

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Collaboration diagram for pcl::registration::CorrespondenceRejectorDistance:

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Public Member Functions
	CorrespondenceRejectorDistance ()
	Empty constructor. 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	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...

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...

Detailed Description

CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences.

Note: If setInputCloud and setInputTarget are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.

Author: Dirk Holz, Radu B. Rusu

Definition at line 59 of file correspondence_rejection_distance.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorDistance::CorrespondenceRejectorDistance ( )

inline

Empty constructor.

Definition at line 68 of file correspondence_rejection_distance.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences & correspondences )

inlineinherited

Run correspondence rejection.

Parameters

[out] correspondences Vector of correspondences that have not been rejected.

Definition at line 84 of file correspondence_rejection.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( )

inlineinherited

Get a pointer to the vector of the input correspondences.

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

Definition at line 78 of file correspondence_rejection.h.

float pcl::registration::CorrespondenceRejectorDistance::getMaximumDistance ( )

inline

Get the maximum distance used for thresholding in correspondence rejection.

Definition at line 92 of file correspondence_rejection_distance.h.

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

inlineinherited

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]	correspondences	Vector of correspondences after rejection
[out]	indices	Vector of query point indices of those correspondences that have been rejected.

Definition at line 112 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejectorDistance::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)

inlinevirtual

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

Parameters

[in]	original_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 43 of file correspondence_rejection_distance.hpp.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud )

inline

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters

[in] cloud a cloud containing XYZ data

Definition at line 99 of file correspondence_rejection_distance.h.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr & correspondences )

inlinevirtualinherited

Provide a pointer to the vector of the input correspondences.

Parameters

[in] correspondences the const boost shared pointer to a correspondence vector

Definition at line 69 of file correspondence_rejection.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::setInputTarget ( const typename pcl::PointCloud< PointT >::ConstPtr & target )

inline

Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters

[in] target a cloud containing XYZ data

Definition at line 111 of file correspondence_rejection_distance.h.

virtual void pcl::registration::CorrespondenceRejectorDistance::setMaximumDistance ( float distance )

inlinevirtual

Set the maximum distance used for thresholding in correspondence rejection.

Parameters

[in] distance Distance to be used as maximum distance between correspondences. Correspondences with larger distances are rejected.

Note: Internally, the distance will be stored squared.

Definition at line 88 of file correspondence_rejection_distance.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_rejection_distance.h
/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_rejection_distance.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation