pcl::registration::DataContainer< PointT, NormalT > Class Template Reference

DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds More...

#include <pcl/registration/correspondence_rejection.h>

Inheritance diagram for pcl::registration::DataContainer< PointT, NormalT >:

Collaboration diagram for pcl::registration::DataContainer< PointT, NormalT >:

Public Member Functions
	DataContainer ()
	Empty constructor. More...
void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
void	setInputTarget (const PointCloudConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
void	setInputNormals (const NormalsPtr &normals)
	Set the normals computed on the input point cloud. More...
void	setTargetNormals (const NormalsPtr &normals)
	Set the normals computed on the target point cloud. More...
NormalsPtr	getInputNormals ()
	Get the normals computed on the input point cloud. More...
NormalsPtr	getTargetNormals ()
	Get the normals computed on the target point cloud. More...
double	getCorrespondenceScore (int index)
	Get the correspondence score for a point in the input cloud. More...
double	getCorrespondenceScore (const pcl::Correspondence &corr)
	Get the correspondence score for a given pair of correspondent points. More...
double	getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr)
	Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals. More...

Detailed Description

template<typename PointT, typename NormalT = pcl::PointNormal>
class pcl::registration::DataContainer< PointT, NormalT >

DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds

Definition at line 158 of file correspondence_rejection.h.

Constructor & Destructor Documentation

template<typename PointT , typename NormalT = pcl::PointNormal>

pcl::registration::DataContainer< PointT, NormalT >::DataContainer ( )

inline

Empty constructor.

Definition at line 167 of file correspondence_rejection.h.

Member Function Documentation

template<typename PointT , typename NormalT = pcl::PointNormal>

double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( int  index )

inlinevirtual

Get the correspondence score for a point in the input cloud.

Parameters

index]

index of the point in the input cloud

Implements pcl::registration::DataContainerInterface.

Definition at line 217 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( const pcl::Correspondence &  corr )

inlinevirtual

Get the correspondence score for a given pair of correspondent points.

Parameters

corr]

Correspondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 233 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScoreFromNormals ( const pcl::Correspondence &  corr )

inline

Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals.

The normmals for the in put and target clouds must be set before using this function

Parameters

[in]

corr

Correspondent points

Definition at line 248 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::getInputNormals ( )

inline

Get the normals computed on the input point cloud.

Definition at line 207 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::getTargetNormals ( )

inline

Get the normals computed on the target point cloud.

Definition at line 211 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setInputCloud ( const PointCloudConstPtr &  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 177 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setInputNormals ( const NormalsPtr &  normals )

inline

Set the normals computed on the input point cloud.

Parameters

[in]

normals

the normals computed for the input cloud

Definition at line 197 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setInputTarget ( const PointCloudConstPtr &  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 187 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setTargetNormals ( const NormalsPtr &  normals )

inline

Set the normals computed on the target point cloud.

Parameters

[in]

normals

the normals computed for the input cloud

Definition at line 203 of file correspondence_rejection.h.

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

• /builddir/build/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/correspondence_rejection.h