CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences. More...
#include <pcl/registration/correspondence_rejection_median_distance.h>
Public Types |
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using | Ptr = shared_ptr< CorrespondenceRejectorMedianDistance > |
using | ConstPtr = shared_ptr< const CorrespondenceRejectorMedianDistance > |
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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CorrespondenceRejectorMedianDistance () | |
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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double | getMedianDistance () const |
Get the median distance used for thresholding in correspondence rejection. More... |
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template<typename PointT > | |
void | setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud) |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... |
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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... |
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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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template<typename PointT > | |
void | setSearchMethodTarget (const typename pcl::search::KdTree< PointT >::Ptr &tree, bool force_no_recompute=false) |
Provide a pointer to the search object used to find correspondences in the target cloud. More... |
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void | setMedianFactor (double factor) |
Set the factor for correspondence rejection. More... |
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double | getMedianFactor () const |
Get the factor used for thresholding in correspondence rejection. 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 | 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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double | median_distance_ |
The median distance threshold between two correspondent points in source <-> target. More... |
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double | factor_ |
The factor for correspondence rejection. More... |
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DataContainerPtr | data_container_ |
A pointer to the DataContainer object containing the input and target point clouds. 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
CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences.
- 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.
Definition at line 61 of file correspondence_rejection_median_distance.h.
Member Typedef Documentation
ConstPtr
using pcl::registration::CorrespondenceRejectorMedianDistance::ConstPtr = shared_ptr<const CorrespondenceRejectorMedianDistance> |
Definition at line 68 of file correspondence_rejection_median_distance.h.
DataContainerPtr
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protected |
Definition at line 203 of file correspondence_rejection_median_distance.h.
Ptr
using pcl::registration::CorrespondenceRejectorMedianDistance::Ptr = shared_ptr<CorrespondenceRejectorMedianDistance> |
Definition at line 67 of file correspondence_rejection_median_distance.h.
Constructor & Destructor Documentation
CorrespondenceRejectorMedianDistance()
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inline |
Empty constructor.
Definition at line 71 of file correspondence_rejection_median_distance.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 188 of file correspondence_rejection_median_distance.h.
getMedianDistance()
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inline |
Get the median distance used for thresholding in correspondence rejection.
Definition at line 88 of file correspondence_rejection_median_distance.h.
getMedianFactor()
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inline |
Get the factor used for thresholding in correspondence rejection.
Definition at line 178 of file correspondence_rejection_median_distance.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.
requiresSourcePoints()
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inlineoverridevirtual |
See if this rejector requires source points.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 121 of file correspondence_rejection_median_distance.h.
requiresTargetPoints()
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inlineoverridevirtual |
See if this rejector requires a target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 137 of file correspondence_rejection_median_distance.h.
setInputSource()
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inline |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
- Parameters
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[in] cloud a cloud containing XYZ data
Definition at line 99 of file correspondence_rejection_median_distance.h.
setInputTarget()
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inline |
Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
- Parameters
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[in] target a cloud containing XYZ data
Definition at line 112 of file correspondence_rejection_median_distance.h.
setMedianFactor()
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inline |
Set the factor for correspondence rejection.
Points with distance greater than median times factor will be rejected
- Parameters
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[in] factor value
Definition at line 171 of file correspondence_rejection_median_distance.h.
setSearchMethodTarget()
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inline |
Provide a pointer to the search object used to find correspondences in the target cloud.
- Parameters
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[in] tree a pointer to the spatial search object. [in] force_no_recompute If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.
Definition at line 160 of file correspondence_rejection_median_distance.h.
setSourcePoints()
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inlineoverridevirtual |
Blob method for setting the source cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 128 of file correspondence_rejection_median_distance.h.
References pcl::fromPCLPointCloud2().
setTargetPoints()
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inlineoverridevirtual |
Method for setting the target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 144 of file correspondence_rejection_median_distance.h.
References pcl::fromPCLPointCloud2().
Member Data Documentation
data_container_
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A pointer to the DataContainer object containing the input and target point clouds.
Definition at line 207 of file correspondence_rejection_median_distance.h.
factor_
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protected |
The factor for correspondence rejection.
Points with distance greater than median times factor will be rejected
Definition at line 201 of file correspondence_rejection_median_distance.h.
median_distance_
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The median distance threshold between two correspondent points in source <-> target.
Definition at line 196 of file correspondence_rejection_median_distance.h.
The documentation for this class was generated from the following file:
- pcl/registration/correspondence_rejection_median_distance.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_median_distance.html