CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the angle between the normals at correspondent points. More...

#include <pcl/registration/correspondence_rejection_surface_normal.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

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Collaboration diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

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Public Member Functions
	CorrespondenceRejectorSurfaceNormal ()
	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...

void	setThreshold (double threshold)
	Set the thresholding angle between the normals for correspondence rejection. More...

double	getThreshold () const
	Get the thresholding angle between the normals for correspondence rejection. More...

template<typename PointT , typename NormalT >
void	initializeDataContainer ()
	Initialize the data container object for the point type and the normal type. More...

template<typename PointT >
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &input)
	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...

template<typename PointT , typename NormalT >
void	setInputNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
	Set the normals computed on the input point cloud. More...

template<typename PointT , typename NormalT >
void	setTargetNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
	Set the normals computed on the target point cloud. More...

template<typename NormalT >
pcl::PointCloud< NormalT >::Ptr	getInputNormals () const
	Get the normals computed on the input point cloud. More...

template<typename NormalT >
pcl::PointCloud< NormalT >::Ptr	getTargetNormals () const
	Get the normals computed on the target point cloud. 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

CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the angle between the normals at correspondent points.

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: Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 59 of file correspondence_rejection_surface_normal.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorSurfaceNormal::CorrespondenceRejectorSurfaceNormal ( )

inline

Empty constructor.

Definition at line 68 of file correspondence_rejection_surface_normal.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.

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputNormals ( ) const

inline

Get the normals computed on the input point cloud.

Definition at line 143 of file correspondence_rejection_surface_normal.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::CorrespondenceRejectorSurfaceNormal::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_surface_normal.hpp.

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getTargetNormals ( ) const

inline

Get the normals computed on the target point cloud.

Definition at line 147 of file correspondence_rejection_surface_normal.h.

double pcl::registration::CorrespondenceRejectorSurfaceNormal::getThreshold ( ) const

inline

Get the thresholding angle between the normals for correspondence rejection.

Definition at line 90 of file correspondence_rejection_surface_normal.h.

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::initializeDataContainer ( )

inline

Initialize the data container object for the point type and the normal type.

Definition at line 95 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & input )

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 104 of file correspondence_rejection_surface_normal.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 , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputNormals ( const typename pcl::PointCloud< NormalT >::ConstPtr & normals )

inline

Set the normals computed on the input point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 125 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::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 115 of file correspondence_rejection_surface_normal.h.

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals ( const typename pcl::PointCloud< NormalT >::ConstPtr & normals )

inline

Set the normals computed on the target point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 135 of file correspondence_rejection_surface_normal.h.

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setThreshold ( double threshold )

inline

Set the thresholding angle between the normals for correspondence rejection.

Parameters

[in] threshold cosine of the thresholding angle between the normals for rejection

Definition at line 86 of file correspondence_rejection_surface_normal.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_surface_normal.h
/builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/correspondence_rejection_surface_normal.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation