An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More...
#include <pcl/registration/correspondence_rejection_features.h>
Public Types |
|
| using | FeatureCloudConstPtr = typename pcl::PointCloud< FeatureT >::ConstPtr |
| using | SearchMethod = std::function< int(const pcl::PointCloud< FeatureT > &, int, pcl::Indices &, std::vector< float > &)> |
| using | PointRepresentationConstPtr = typename pcl::PointRepresentation< FeatureT >::ConstPtr |
Public Member Functions |
|
| FeatureContainer () | |
| ~FeatureContainer () | |
| Empty destructor. More... |
|
| void | setSourceFeature (const FeatureCloudConstPtr &source_features) |
| FeatureCloudConstPtr | getSourceFeature () |
| void | setTargetFeature (const FeatureCloudConstPtr &target_features) |
| FeatureCloudConstPtr | getTargetFeature () |
| void | setDistanceThreshold (double thresh) |
| bool | isValid () override |
| void | setFeatureRepresentation (const PointRepresentationConstPtr &fr) |
| Provide a boost shared pointer to a PointRepresentation to be used when comparing features. More... |
|
| double | getCorrespondenceScore (int index) override |
| Obtain a score between a pair of correspondences. More... |
|
| bool | isCorrespondenceValid (int index) override |
| Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold. More... |
|
Detailed Description
template<typename FeatureT>
class pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >
An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search.
This class extends FeatureContainerInterface, which contains abstract methods for any methods that do not depend on the FeatureT — these methods can thus be called from a pointer to FeatureContainerInterface without casting to the derived class.
Definition at line 189 of file correspondence_rejection_features.h.
Member Typedef Documentation
FeatureCloudConstPtr
| using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureCloudConstPtr = typename pcl::PointCloud<FeatureT>::ConstPtr |
Definition at line 192 of file correspondence_rejection_features.h.
PointRepresentationConstPtr
| using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::PointRepresentationConstPtr = typename pcl::PointRepresentation<FeatureT>::ConstPtr |
Definition at line 197 of file correspondence_rejection_features.h.
SearchMethod
| using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::SearchMethod = std::function<int( const pcl::PointCloud<FeatureT>&, int, pcl::Indices&, std::vector<float>&)> |
Definition at line 194 of file correspondence_rejection_features.h.
Constructor & Destructor Documentation
FeatureContainer()
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inline |
Definition at line 199 of file correspondence_rejection_features.h.
~FeatureContainer()
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inline |
Empty destructor.
Definition at line 204 of file correspondence_rejection_features.h.
Member Function Documentation
getCorrespondenceScore()
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inlineoverride |
Obtain a score between a pair of correspondences.
- Parameters
-
[in] index the index to check in the list of correspondences
- Returns
- score the resultant computed score
Definition at line 258 of file correspondence_rejection_features.h.
getSourceFeature()
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inline |
Definition at line 213 of file correspondence_rejection_features.h.
getTargetFeature()
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inline |
Definition at line 225 of file correspondence_rejection_features.h.
isCorrespondenceValid()
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inlineoverride |
Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold.
- Parameters
-
[in] index the index to check in the list of correspondences
- Returns
- true if the correspondence is good, false otherwise
Definition at line 296 of file correspondence_rejection_features.h.
isValid()
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inlineoverride |
Definition at line 237 of file correspondence_rejection_features.h.
setDistanceThreshold()
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inline |
Definition at line 231 of file correspondence_rejection_features.h.
setFeatureRepresentation()
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inline |
Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
- Parameters
-
[in] fr the point feature representation to be used
Definition at line 248 of file correspondence_rejection_features.h.
setSourceFeature()
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inline |
Definition at line 207 of file correspondence_rejection_features.h.
setTargetFeature()
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inline |
Definition at line 219 of file correspondence_rejection_features.h.
The documentation for this class was generated from the following file:
- pcl/registration/correspondence_rejection_features.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_rejector_features_1_1_feature_container.html
