Point Cloud Library (PCL)
1.3.1
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CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...
#include <pcl/registration/correspondence_rejection_features.h>
Classes | |
class | FeatureContainer |
An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More... | |
class | FeatureContainerInterface |
Public Member Functions | |
CorrespondenceRejectorFeatures () | |
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. | |
template<typename FeatureT > | |
void | setSourceFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &source_feature, const std::string &key) |
Provide a pointer to a cloud of feature descriptors associated with the source point cloud. | |
template<typename FeatureT > | |
pcl::PointCloud< FeatureT > ::ConstPtr | getSourceFeature (const std::string &key) |
Get a pointer to the source cloud's feature descriptors, specified by the given key. | |
template<typename FeatureT > | |
void | setTargetFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &target_feature, const std::string &key) |
Provide a pointer to a cloud of feature descriptors associated with the target point cloud. | |
template<typename FeatureT > | |
pcl::PointCloud< FeatureT > ::ConstPtr | getTargetFeature (const std::string &key) |
Get a pointer to the source cloud's feature descriptors, specified by the given key. | |
template<typename FeatureT > | |
void | setDistanceThreshold (double thresh, const std::string &key) |
Set a hard distance threshold in the feature FeatureT space, between source and target features. | |
bool | hasValidFeatures () |
Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method) | |
template<typename FeatureT > | |
void | setFeatureRepresentation (const typename pcl::PointRepresentation< FeatureT >::ConstPtr &fr, const std::string &key) |
Provide a boost shared pointer to a PointRepresentation to be used when comparing features. | |
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. |
CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors.
Given an input feature space, the method checks if each feature in the source cloud has a correspondence in the target cloud, either by checking the first K (given) point correspondences, or by defining a tolerance threshold via a radius in feature space.
pcl::registration::CorrespondenceRejectorFeatures::CorrespondenceRejectorFeatures | ( | ) | [inline] |
Empty constructor.
Definition at line 66 of file correspondence_rejection_features.h.
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.
[in] | a | the first correspondence |
[in] | b | the second correspondence |
Definition at line 107 of file correspondence_rejection.h.
void pcl::registration::CorrespondenceRejector::getCorrespondences | ( | pcl::Correspondences & | correspondences | ) | [inline, inherited] |
Run correspondence rejection.
[out] | correspondences | Vector 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.
Definition at line 72 of file correspondence_rejection.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.
[in] | correspondences | Vector of correspondences after rejection |
[out] | indices | Vector of query point indices of those correspondences that have been rejected. |
Definition at line 123 of file correspondence_rejection.h.
void pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences | ( | const pcl::Correspondences & | original_correspondences, |
pcl::Correspondences & | remaining_correspondences | ||
) | [virtual] |
DEPRECATED: Get a list of valid correspondences after rejection from the original set of correspondences.
original_correspondences | the set of initial correspondences given |
remaining_correspondences | the resultant filtered set of remaining correspondences |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 66 of file correspondence_rejection_features.hpp.
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature | ( | const std::string & | key | ) | [inline] |
Get a pointer to the source cloud's feature descriptors, specified by the given key.
key | a string that uniquely identifies the feature (must match the key provided by setSourceFeature) |
Definition at line 102 of file correspondence_rejection_features.hpp.
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature | ( | const std::string & | key | ) | [inline] |
Get a pointer to the source cloud's feature descriptors, specified by the given key.
key | a string that uniquely identifies the feature (must match the key provided by setTargetFeature) |
Definition at line 122 of file correspondence_rejection_features.hpp.
bool pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures | ( | ) | [inline] |
Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method)
Definition at line 145 of file correspondence_rejection_features.hpp.
void pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold | ( | double | thresh, |
const std::string & | key | ||
) | [inline] |
Set a hard distance threshold in the feature FeatureT space, between source and target features.
Any feature correspondence that is above this threshold will be considered bad and will be filtered out.
[in] | thresh | the distance threshold |
[in] | key | a string that uniquely identifies the feature |
Definition at line 135 of file correspondence_rejection_features.hpp.
void pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation | ( | const typename pcl::PointRepresentation< FeatureT >::ConstPtr & | fr, |
const std::string & | key | ||
) | [inline] |
Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
key | a string that uniquely identifies the feature |
fr | the point feature representation to be used |
Definition at line 158 of file correspondence_rejection_features.hpp.
virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences | ( | const CorrespondencesConstPtr & | correspondences | ) | [inline, virtual, inherited] |
Provide a pointer to the vector of the input correspondences.
[in] | correspondences | the const boost shared pointer to a correspondence vector |
Definition at line 63 of file correspondence_rejection.h.
void pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature | ( | const typename pcl::PointCloud< FeatureT >::ConstPtr & | source_feature, |
const std::string & | key | ||
) | [inline] |
Provide a pointer to a cloud of feature descriptors associated with the source point cloud.
source_feature | a cloud of feature descriptors associated with the source point cloud |
key | a string that uniquely identifies the feature |
Definition at line 92 of file correspondence_rejection_features.hpp.
void pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature | ( | const typename pcl::PointCloud< FeatureT >::ConstPtr & | target_feature, |
const std::string & | key | ||
) | [inline] |
Provide a pointer to a cloud of feature descriptors associated with the target point cloud.
target_feature | a cloud of feature descriptors associated with the target point cloud |
key | a string that uniquely identifies the feature |
Definition at line 112 of file correspondence_rejection_features.hpp.