Point Cloud Library (PCL)  1.3.1
Classes | Public Member Functions | Static Public Member Functions
pcl::registration::CorrespondenceRejectorDistance Class Reference

CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences. More...

#include <pcl/registration/correspondence_rejection_distance.h>

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List of all members.

Classes

class  DataContainer
class  DataContainerInterface

Public Member Functions

 CorrespondenceRejectorDistance ()
 Empty constructor.
void getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
 DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.
virtual void setMaximumDistance (float distance)
 Set the maximum distance used for thresholding in correspondence rejection.
float getMaximumDistance ()
 Get the maximum distance used for thresholding in correspondence rejection.
template<typename PointT >
void setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
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.
virtual void setInputCorrespondences (const CorrespondencesConstPtr &correspondences)
 Provide a pointer to the vector of the input correspondences.
CorrespondencesConstPtr getInputCorrespondences ()
 Get a pointer to the vector of the input correspondences.
void getCorrespondences (pcl::Correspondences &correspondences)
 Run correspondence rejection.
void getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
 DEPRECATED: 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.

Static Public Member Functions

static bool compareCorrespondencesDistance (const pcl::Correspondence &a, const pcl::Correspondence &b)
 DEPRECATED: Simple comparator for two correspondences.

Detailed Description

CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances 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.
Author:
Dirk Holz, Radu B. Rusu

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorDistance::CorrespondenceRejectorDistance ( ) [inline]

Empty constructor.

Definition at line 68 of file correspondence_rejection_distance.h.


Member Function Documentation

static bool pcl::registration::CorrespondenceRejector::compareCorrespondencesDistance ( const pcl::Correspondence a,
const pcl::Correspondence b 
) [inline, static, inherited]

DEPRECATED: Simple comparator for two correspondences.

Returns true if the distance of the first correspondence is smaller than the distance of the second.

Parameters:
[in]athe first correspondence
[in]bthe second correspondence

Definition at line 107 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences correspondences) [inline, inherited]

Run correspondence rejection.

Parameters:
[out]correspondencesVector of correspondences that have not been rejected.

Definition at line 78 of file correspondence_rejection.h.

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( ) [inline, inherited]

Get a pointer to the vector of the input correspondences.

Returns:
correspondences the const boost shared pointer to a correspondence vector

Definition at line 72 of file correspondence_rejection.h.

float pcl::registration::CorrespondenceRejectorDistance::getMaximumDistance ( ) [inline]

Get the maximum distance used for thresholding in correspondence rejection.

Definition at line 92 of file correspondence_rejection_distance.h.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices ( const pcl::Correspondences correspondences,
std::vector< int > &  indices 
) [inline, inherited]

DEPRECATED: 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.

Parameters:
[in]correspondencesVector of correspondences after rejection
[out]indicesVector of query point indices of those correspondences that have been rejected.

Definition at line 123 of file correspondence_rejection.h.

void pcl::registration::CorrespondenceRejectorDistance::getRemainingCorrespondences ( const pcl::Correspondences original_correspondences,
pcl::Correspondences remaining_correspondences 
) [inline, virtual]

DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters:
original_correspondencesthe set of initial correspondences given
remaining_correspondencesthe resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 69 of file correspondence_rejection_distance.hpp.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorDistance::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr &  cloud) [inline]

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters:
[in]clouda cloud containing XYZ data

Definition at line 99 of file correspondence_rejection_distance.h.

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr correspondences) [inline, virtual, inherited]

Provide a pointer to the vector of the input correspondences.

Parameters:
[in]correspondencesthe const boost shared pointer to a correspondence vector

Definition at line 63 of file correspondence_rejection.h.

template<typename PointT >
void pcl::registration::CorrespondenceRejectorDistance::setInputTarget ( const typename pcl::PointCloud< PointT >::ConstPtr &  target) [inline]

Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters:
[in]targeta cloud containing XYZ data

Definition at line 111 of file correspondence_rejection_distance.h.

virtual void pcl::registration::CorrespondenceRejectorDistance::setMaximumDistance ( float  distance) [inline, virtual]

Set the maximum distance used for thresholding in correspondence rejection.

Parameters:
distanceDistance to be used as maximum distance between correspondences. Correspondences with larger distances are rejected.
Note:
Internally, the distance will be stored squared.

Definition at line 88 of file correspondence_rejection_distance.h.


The documentation for this class was generated from the following files:
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