CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...
#include <pcl/registration/correspondence_rejection_features.h>
Classes |
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class | FeatureContainer |
An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More... |
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class | FeatureContainerInterface |
Public Types |
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using | Ptr = shared_ptr< CorrespondenceRejectorFeatures > |
using | ConstPtr = shared_ptr< const CorrespondenceRejectorFeatures > |
Public Types inherited from pcl::registration::CorrespondenceRejector | |
using | Ptr = shared_ptr< CorrespondenceRejector > |
using | ConstPtr = shared_ptr< const CorrespondenceRejector > |
Public Member Functions |
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CorrespondenceRejectorFeatures () | |
Empty constructor. More... |
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~CorrespondenceRejectorFeatures () | |
Empty destructor. 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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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. More... |
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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. More... |
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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. More... |
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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. More... |
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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. More... |
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bool | hasValidFeatures () |
Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method) More... |
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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. More... |
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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 | requiresSourcePoints () const |
See if this rejector requires source points. More... |
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virtual void | setSourcePoints (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the source cloud. 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 | requiresTargetPoints () const |
See if this rejector requires a target cloud. More... |
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virtual void | setTargetPoints (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the target cloud. 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 | FeaturesMap = std::unordered_map< std::string, FeatureContainerInterface::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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float | max_distance_ |
The maximum distance threshold between two correspondent points in source <-> target. More... |
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FeaturesMap | features_map_ |
An STL map containing features to use when performing the correspondence search. More... |
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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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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.
- Todo:
- explain this better.
Definition at line 58 of file correspondence_rejection_features.h.
Member Typedef Documentation
ConstPtr
using pcl::registration::CorrespondenceRejectorFeatures::ConstPtr = shared_ptr<const CorrespondenceRejectorFeatures> |
Definition at line 65 of file correspondence_rejection_features.h.
FeaturesMap
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protected |
Definition at line 176 of file correspondence_rejection_features.h.
Ptr
using pcl::registration::CorrespondenceRejectorFeatures::Ptr = shared_ptr<CorrespondenceRejectorFeatures> |
Definition at line 64 of file correspondence_rejection_features.h.
Constructor & Destructor Documentation
CorrespondenceRejectorFeatures()
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inline |
Empty constructor.
Definition at line 68 of file correspondence_rejection_features.h.
~CorrespondenceRejectorFeatures()
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inline |
Empty destructor.
Definition at line 74 of file correspondence_rejection_features.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 151 of file correspondence_rejection_features.h.
getRemainingCorrespondences()
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overridevirtual |
Get a list of valid correspondences after rejection from the original set of correspondences.
- 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.
getSourceFeature()
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inline |
Get a pointer to the source cloud's feature descriptors, specified by the given key.
- Parameters
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[in] key a string that uniquely identifies the feature (must match the key provided by setSourceFeature)
Definition at line 64 of file correspondence_rejection_features.hpp.
References features_map_.
getTargetFeature()
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inline |
Get a pointer to the source cloud's feature descriptors, specified by the given key.
- Parameters
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[in] key a string that uniquely identifies the feature (must match the key provided by setTargetFeature)
Definition at line 86 of file correspondence_rejection_features.hpp.
References features_map_.
hasValidFeatures()
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inline |
Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method)
setDistanceThreshold()
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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
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[in] thresh the distance threshold [in] key a string that uniquely identifies the feature
Definition at line 96 of file correspondence_rejection_features.hpp.
References features_map_.
setFeatureRepresentation()
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inline |
Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
- Parameters
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[in] key a string that uniquely identifies the feature [in] fr the point feature representation to be used
Definition at line 107 of file correspondence_rejection_features.hpp.
References features_map_.
setSourceFeature()
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inline |
Provide a pointer to a cloud of feature descriptors associated with the source point cloud.
- Parameters
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[in] source_feature a cloud of feature descriptors associated with the source point cloud [in] key a string that uniquely identifies the feature
Definition at line 52 of file correspondence_rejection_features.hpp.
References features_map_.
setTargetFeature()
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inline |
Provide a pointer to a cloud of feature descriptors associated with the target point cloud.
- Parameters
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[in] target_feature a cloud of feature descriptors associated with the target point cloud [in] key a string that uniquely identifies the feature
Definition at line 74 of file correspondence_rejection_features.hpp.
References features_map_.
Member Data Documentation
features_map_
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protected |
An STL map containing features to use when performing the correspondence search.
Definition at line 180 of file correspondence_rejection_features.h.
Referenced by getSourceFeature(), getTargetFeature(), setDistanceThreshold(), setFeatureRepresentation(), setSourceFeature(), and setTargetFeature().
max_distance_
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protected |
The maximum distance threshold between two correspondent points in source <-> target.
If the distance is larger than this threshold, the points will not be ignored in the alignment process.
Definition at line 160 of file correspondence_rejection_features.h.
The documentation for this class was generated from the following files:
- pcl/registration/correspondence_rejection_features.h
- pcl/registration/impl/correspondence_rejection_features.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_rejector_features.html