CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the angle between the normals at correspondent points. More...
#include <pcl/registration/correspondence_rejection_surface_normal.h>
Public Types |
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using | Ptr = shared_ptr< CorrespondenceRejectorSurfaceNormal > |
using | ConstPtr = shared_ptr< const CorrespondenceRejectorSurfaceNormal > |
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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CorrespondenceRejectorSurfaceNormal () | |
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 | setThreshold (double threshold) |
Set the thresholding angle between the normals for correspondence rejection. More... |
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double | getThreshold () const |
Get the thresholding angle between the normals for correspondence rejection. More... |
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template<typename PointT , typename NormalT > | |
void | initializeDataContainer () |
Initialize the data container object for the point type and the normal type. More... |
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template<typename PointT > | |
void | setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &input) |
Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... |
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template<typename PointT > | |
pcl::PointCloud< PointT >::ConstPtr | getInputSource () const |
Get the target input point cloud. 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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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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template<typename PointT > | |
pcl::PointCloud< PointT >::ConstPtr | getInputTarget () const |
Get the target input point cloud. More... |
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template<typename PointT , typename NormalT > | |
void | setInputNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals) |
Set the normals computed on the input point cloud. More... |
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template<typename NormalT > | |
pcl::PointCloud< NormalT >::Ptr | getInputNormals () const |
Get the normals computed on the input point cloud. More... |
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template<typename PointT , typename NormalT > | |
void | setTargetNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals) |
Set the normals computed on the target point cloud. More... |
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template<typename NormalT > | |
pcl::PointCloud< NormalT >::Ptr | getTargetNormals () const |
Get the normals computed on the target point cloud. 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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bool | requiresSourceNormals () const override |
See if this rejector requires source normals. More... |
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void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2) override |
Blob method for setting the source normals. More... |
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bool | requiresTargetNormals () const override |
See if this rejector requires target normals. More... |
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void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr cloud2) override |
Method for setting the target normals. 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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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 | threshold_ |
The median distance threshold between two correspondent points in source <-> target. 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
CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the angle between the normals at correspondent points.
- 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 60 of file correspondence_rejection_surface_normal.h.
Member Typedef Documentation
ConstPtr
using pcl::registration::CorrespondenceRejectorSurfaceNormal::ConstPtr = shared_ptr<const CorrespondenceRejectorSurfaceNormal> |
Definition at line 67 of file correspondence_rejection_surface_normal.h.
DataContainerPtr
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protected |
Definition at line 347 of file correspondence_rejection_surface_normal.h.
Ptr
using pcl::registration::CorrespondenceRejectorSurfaceNormal::Ptr = shared_ptr<CorrespondenceRejectorSurfaceNormal> |
Definition at line 66 of file correspondence_rejection_surface_normal.h.
Constructor & Destructor Documentation
CorrespondenceRejectorSurfaceNormal()
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inline |
Empty constructor.
Sets the threshold to 1.0.
Definition at line 70 of file correspondence_rejection_surface_normal.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 338 of file correspondence_rejection_surface_normal.h.
getInputNormals()
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inline |
Get the normals computed on the input point cloud.
Definition at line 214 of file correspondence_rejection_surface_normal.h.
getInputSource()
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inline |
Get the target input point cloud.
Definition at line 131 of file correspondence_rejection_surface_normal.h.
getInputTarget()
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inline |
Get the target input point cloud.
Definition at line 180 of file correspondence_rejection_surface_normal.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.
getTargetNormals()
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inline |
Get the normals computed on the target point cloud.
Definition at line 248 of file correspondence_rejection_surface_normal.h.
getThreshold()
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inline |
Get the thresholding angle between the normals for correspondence rejection.
Definition at line 97 of file correspondence_rejection_surface_normal.h.
initializeDataContainer()
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inline |
Initialize the data container object for the point type and the normal type.
Definition at line 106 of file correspondence_rejection_surface_normal.h.
requiresSourceNormals()
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inlineoverridevirtual |
See if this rejector requires source normals.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 299 of file correspondence_rejection_surface_normal.h.
requiresSourcePoints()
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inlineoverridevirtual |
See if this rejector requires source points.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 263 of file correspondence_rejection_surface_normal.h.
requiresTargetNormals()
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inlineoverridevirtual |
See if this rejector requires target normals.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 317 of file correspondence_rejection_surface_normal.h.
requiresTargetPoints()
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inlineoverridevirtual |
See if this rejector requires a target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 281 of file correspondence_rejection_surface_normal.h.
setInputNormals()
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inline |
Set the normals computed on the input point cloud.
- Parameters
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[in] normals the normals computed for the input cloud
Definition at line 198 of file correspondence_rejection_surface_normal.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] input a cloud containing XYZ data
Definition at line 116 of file correspondence_rejection_surface_normal.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 149 of file correspondence_rejection_surface_normal.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 170 of file correspondence_rejection_surface_normal.h.
setSourceNormals()
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inlineoverridevirtual |
Blob method for setting the source normals.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 306 of file correspondence_rejection_surface_normal.h.
References pcl::fromPCLPointCloud2().
setSourcePoints()
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inlineoverridevirtual |
Blob method for setting the source cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 270 of file correspondence_rejection_surface_normal.h.
References pcl::fromPCLPointCloud2().
setTargetNormals() [1/2]
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inline |
Set the normals computed on the target point cloud.
- Parameters
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[in] normals the normals computed for the input cloud
Definition at line 232 of file correspondence_rejection_surface_normal.h.
setTargetNormals() [2/2]
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inlineoverridevirtual |
Method for setting the target normals.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 324 of file correspondence_rejection_surface_normal.h.
References pcl::fromPCLPointCloud2().
setTargetPoints()
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inlineoverridevirtual |
Method for setting the target cloud.
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 288 of file correspondence_rejection_surface_normal.h.
References pcl::fromPCLPointCloud2().
setThreshold()
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inline |
Set the thresholding angle between the normals for correspondence rejection.
- Parameters
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[in] threshold cosine of the thresholding angle between the normals for rejection
Definition at line 89 of file correspondence_rejection_surface_normal.h.
Member Data Documentation
data_container_
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protected |
A pointer to the DataContainer object containing the input and target point clouds.
Definition at line 350 of file correspondence_rejection_surface_normal.h.
threshold_
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protected |
The median distance threshold between two correspondent points in source <-> target.
Definition at line 345 of file correspondence_rejection_surface_normal.h.
The documentation for this class was generated from the following file:
- pcl/registration/correspondence_rejection_surface_normal.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_surface_normal.html