The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure. More...
#include <pcl/registration/correspondence_rejection_organized_boundary.h>
Public Member Functions |
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CorrespondenceRejectionOrganizedBoundary () | |
Empty constructor. More... |
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void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override |
Get a list of valid correspondences after rejection from the original set of correspondences. More... |
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void | setNumberOfBoundaryNaNs (int val) |
template<typename PointT > | |
void | setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) |
template<typename PointT > | |
void | setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) |
bool | requiresSourcePoints () const override |
See if this rejector requires source points. More... |
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void | setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2) override |
Blob method for setting the source cloud. More... |
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bool | requiresTargetPoints () const override |
See if this rejector requires a target cloud. More... |
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void | setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2) override |
Method for setting the target cloud. More... |
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virtual bool | updateSource (const Eigen::Matrix4d &) |
Public Member Functions inherited from pcl::registration::CorrespondenceRejector | |
CorrespondenceRejector () | |
Empty constructor. More... |
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virtual | ~CorrespondenceRejector () |
Empty destructor. More... |
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virtual void | setInputCorrespondences (const CorrespondencesConstPtr &correspondences) |
Provide a pointer to the vector of the input correspondences. More... |
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CorrespondencesConstPtr | getInputCorrespondences () |
Get a pointer to the vector of the input correspondences. More... |
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void | getCorrespondences (pcl::Correspondences &correspondences) |
Run correspondence rejection. More... |
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void | getRejectedQueryIndices (const pcl::Correspondences &correspondences, pcl::Indices &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... |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... |
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virtual bool | requiresSourceNormals () const |
See if this rejector requires source normals. More... |
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virtual void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the source normals. More... |
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virtual bool | requiresTargetNormals () const |
See if this rejector requires target normals. More... |
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virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the target normals. More... |
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Protected Types |
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using | DataContainerPtr = DataContainerInterface::Ptr |
Protected Member Functions |
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void | applyRejection (pcl::Correspondences &correspondences) override |
Apply the rejection algorithm. More... |
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Protected Attributes |
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int | boundary_nans_threshold_ |
int | window_size_ |
float | depth_step_threshold_ |
DataContainerPtr | data_container_ |
Protected Attributes inherited from pcl::registration::CorrespondenceRejector | |
std::string | rejection_name_ |
The name of the rejection method. More... |
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CorrespondencesConstPtr | input_correspondences_ |
The input correspondences. More... |
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Additional Inherited Members |
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Public Types inherited from pcl::registration::CorrespondenceRejector | |
using | Ptr = shared_ptr< CorrespondenceRejector > |
using | ConstPtr = shared_ptr< const CorrespondenceRejector > |
Detailed Description
The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure.
For each pair of points in correspondence, it checks whether they are on the boundary of a silhouette. This is done by counting the number of NaN dexels in a window around the points (the threshold and window size can be set by the user).
- Note
- Both the source and the target clouds need to be organized, otherwise all the correspondences will be rejected.
Definition at line 58 of file correspondence_rejection_organized_boundary.h.
Member Typedef Documentation
DataContainerPtr
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protected |
Definition at line 148 of file correspondence_rejection_organized_boundary.h.
Constructor & Destructor Documentation
CorrespondenceRejectionOrganizedBoundary()
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inline |
Empty constructor.
Definition at line 62 of file correspondence_rejection_organized_boundary.h.
Member Function Documentation
applyRejection()
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inlineoverrideprotectedvirtual |
Apply the rejection algorithm.
- Parameters
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[out] correspondences the set of resultant correspondences.
Implements pcl::registration::CorrespondenceRejector.
Definition at line 139 of file correspondence_rejection_organized_boundary.h.
getRemainingCorrespondences()
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overridevirtual |
Get a list of valid correspondences after rejection from the original set of correspondences.
Pure virtual. Compared to getCorrespondences this function is stateless, i.e., input correspondences do not need to be provided beforehand, but are directly provided in the function call.
- Parameters
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[in] original_correspondences the set of initial correspondences given [out] remaining_correspondences the resultant filtered set of remaining correspondences
Implements pcl::registration::CorrespondenceRejector.
requiresSourcePoints()
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inlineoverridevirtual |
See if this rejector requires source points.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 98 of file correspondence_rejection_organized_boundary.h.
requiresTargetPoints()
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inlineoverridevirtual |
See if this rejector requires a target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 114 of file correspondence_rejection_organized_boundary.h.
setInputSource()
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inline |
Definition at line 78 of file correspondence_rejection_organized_boundary.h.
setInputTarget()
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inline |
Definition at line 88 of file correspondence_rejection_organized_boundary.h.
setNumberOfBoundaryNaNs()
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inline |
Definition at line 71 of file correspondence_rejection_organized_boundary.h.
setSourcePoints()
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inlineoverridevirtual |
Blob method for setting the source cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 105 of file correspondence_rejection_organized_boundary.h.
References pcl::fromPCLPointCloud2().
setTargetPoints()
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inlineoverridevirtual |
Method for setting the target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 121 of file correspondence_rejection_organized_boundary.h.
References pcl::fromPCLPointCloud2().
updateSource()
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inlinevirtual |
Definition at line 129 of file correspondence_rejection_organized_boundary.h.
Member Data Documentation
boundary_nans_threshold_
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protected |
Definition at line 144 of file correspondence_rejection_organized_boundary.h.
data_container_
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protected |
Definition at line 149 of file correspondence_rejection_organized_boundary.h.
depth_step_threshold_
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protected |
Definition at line 146 of file correspondence_rejection_organized_boundary.h.
window_size_
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protected |
Definition at line 145 of file correspondence_rejection_organized_boundary.h.
The documentation for this class was generated from the following file:
- pcl/registration/correspondence_rejection_organized_boundary.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_rejection_organized_boundary.html