DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds More...
#include <pcl/registration/correspondence_rejection.h>
Public Member Functions |
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| DataContainer (bool needs_normals=false) | |
| Empty constructor. More... |
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| ~DataContainer () | |
| Empty destructor. More... |
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| void | setInputSource (const PointCloudConstPtr &cloud) |
| Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... |
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| const PointCloudConstPtr | getInputSource () |
| Get a pointer to the input point cloud dataset target. More... |
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| void | setInputTarget (const PointCloudConstPtr &target) |
| Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More... |
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| const PointCloudConstPtr | getInputTarget () |
| Get a pointer to the input point cloud dataset target. More... |
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| void | setSearchMethodTarget (const KdTreePtr &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 | setInputNormals (const NormalsConstPtr &normals) |
| Set the normals computed on the input point cloud. More... |
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| NormalsConstPtr | getInputNormals () |
| Get the normals computed on the input point cloud. More... |
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| void | setTargetNormals (const NormalsConstPtr &normals) |
| Set the normals computed on the target point cloud. More... |
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| NormalsConstPtr | getTargetNormals () |
| Get the normals computed on the target point cloud. More... |
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| double | getCorrespondenceScore (int index) override |
| Get the correspondence score for a point in the input cloud. More... |
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| double | getCorrespondenceScore (const pcl::Correspondence &corr) override |
| Get the correspondence score for a given pair of correspondent points. More... |
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| double | getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr) override |
| Get the correspondence score for a given pair of correspondent points based on the angle between the normals. More... |
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 Public Member Functions inherited from pcl::registration::DataContainerInterface |
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| virtual | ~DataContainerInterface ()=default |
Additional Inherited Members |
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| Public Types inherited from pcl::registration::DataContainerInterface |
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| using | Ptr = shared_ptr< DataContainerInterface > |
| using | ConstPtr = shared_ptr< const DataContainerInterface > |
Detailed Description
template<typename PointT, typename NormalT = pcl::PointNormal>
class pcl::registration::DataContainer< PointT, NormalT >
DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds
Definition at line 230 of file correspondence_rejection.h.
Constructor & Destructor Documentation
DataContainer()
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inline |
Empty constructor.
Definition at line 243 of file correspondence_rejection.h.
~DataContainer()
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inline |
Empty destructor.
Definition at line 258 of file correspondence_rejection.h.
Member Function Documentation
getCorrespondenceScore() [1/2]
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inlineoverridevirtual |
Get the correspondence score for a given pair of correspondent points.
- Parameters
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[in] corr Correspondent points
Implements pcl::registration::DataContainerInterface.
Definition at line 362 of file correspondence_rejection.h.
References pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
getCorrespondenceScore() [2/2]
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inlineoverridevirtual |
Get the correspondence score for a point in the input cloud.
- Parameters
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[in] index index of the point in the input cloud
Implements pcl::registration::DataContainerInterface.
Definition at line 346 of file correspondence_rejection.h.
getCorrespondenceScoreFromNormals()
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inlineoverridevirtual |
Get the correspondence score for a given pair of correspondent points based on the angle between the normals.
The normmals for the in put and target clouds must be set before using this function
- Parameters
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[in] corr Correspondent points
Implements pcl::registration::DataContainerInterface.
Definition at line 376 of file correspondence_rejection.h.
References pcl::Correspondence::index_match, and pcl::Correspondence::index_query.
getInputNormals()
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inline |
Get the normals computed on the input point cloud.
Definition at line 321 of file correspondence_rejection.h.
getInputSource()
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inline |
Get a pointer to the input point cloud dataset target.
Definition at line 272 of file correspondence_rejection.h.
getInputTarget()
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inline |
Get a pointer to the input point cloud dataset target.
Definition at line 290 of file correspondence_rejection.h.
getTargetNormals()
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inline |
Get the normals computed on the target point cloud.
Definition at line 337 of file correspondence_rejection.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 314 of file correspondence_rejection.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 265 of file correspondence_rejection.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 282 of file correspondence_rejection.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 303 of file correspondence_rejection.h.
setTargetNormals()
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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 330 of file correspondence_rejection.h.
The documentation for this class was generated from the following file:
- pcl/registration/correspondence_rejection.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_data_container.html
