Point Cloud Library (PCL)
1.9.1
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CorrespondenceRejector represents the base class for correspondence rejection methods More...
#include <pcl/registration/correspondence_rejection.h>
Public Types | |
typedef boost::shared_ptr < CorrespondenceRejector > | Ptr |
typedef boost::shared_ptr < const CorrespondenceRejector > | ConstPtr |
Public Member Functions | |
CorrespondenceRejector () | |
Empty constructor. More... | |
virtual | ~CorrespondenceRejector () |
Empty destructor. More... | |
virtual void | setInputCorrespondences (const CorrespondencesConstPtr &correspondences) |
Provide a pointer to the vector of the input correspondences. More... | |
CorrespondencesConstPtr | getInputCorrespondences () |
Get a pointer to the vector of the input correspondences. More... | |
void | getCorrespondences (pcl::Correspondences &correspondences) |
Run correspondence rejection. More... | |
virtual void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)=0 |
Get a list of valid correspondences after rejection from the original set of correspondences. More... | |
void | getRejectedQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &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... | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | requiresSourcePoints () const |
See if this rejector requires source points. More... | |
virtual void | setSourcePoints (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the source cloud. More... | |
virtual bool | requiresSourceNormals () const |
See if this rejector requires source normals. More... | |
virtual void | setSourceNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the source normals. More... | |
virtual bool | requiresTargetPoints () const |
See if this rejector requires a target cloud. More... | |
virtual void | setTargetPoints (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the target cloud. More... | |
virtual bool | requiresTargetNormals () const |
See if this rejector requires target normals. More... | |
virtual void | setTargetNormals (pcl::PCLPointCloud2::ConstPtr) |
Abstract method for setting the target normals. More... | |
Protected Member Functions | |
virtual void | applyRejection (Correspondences &correspondences)=0 |
Abstract rejection method. More... | |
Protected Attributes | |
std::string | rejection_name_ |
The name of the rejection method. More... | |
CorrespondencesConstPtr | input_correspondences_ |
The input correspondences. More... | |
CorrespondenceRejector represents the base class for correspondence rejection methods
Definition at line 59 of file correspondence_rejection.h.
typedef boost::shared_ptr<const CorrespondenceRejector> pcl::registration::CorrespondenceRejector::ConstPtr |
Definition at line 63 of file correspondence_rejection.h.
typedef boost::shared_ptr<CorrespondenceRejector> pcl::registration::CorrespondenceRejector::Ptr |
Definition at line 62 of file correspondence_rejection.h.
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inline |
Empty constructor.
Definition at line 66 of file correspondence_rejection.h.
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inlinevirtual |
Empty destructor.
Definition at line 72 of file correspondence_rejection.h.
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protectedpure virtual |
Abstract rejection method.
Implemented in pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >, pcl::registration::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorDistance, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >, pcl::registration::CorrespondenceRejectorFeatures, pcl::registration::CorrespondenceRejectionOrganizedBoundary, pcl::registration::CorrespondenceRejectorTrimmed, and pcl::registration::CorrespondenceRejectorOneToOne.
Referenced by getCorrespondences().
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inline |
Get a string representation of the name of this class.
Definition at line 135 of file correspondence_rejection.h.
References rejection_name_.
Referenced by getRejectedQueryIndices(), setSourceNormals(), setSourcePoints(), setTargetNormals(), and setTargetPoints().
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inline |
Run correspondence rejection.
[out] | correspondences | Vector of correspondences that have not been rejected. |
Definition at line 93 of file correspondence_rejection.h.
References applyRejection(), and input_correspondences_.
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inline |
Get a pointer to the vector of the input correspondences.
Definition at line 87 of file correspondence_rejection.h.
References input_correspondences_.
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inline |
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 121 of file correspondence_rejection.h.
References getClassName(), pcl::getRejectedQueryIndices(), and input_correspondences_.
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inlinepure virtual |
Get a list of valid correspondences after rejection from the original set of correspondences.
Pure virtual. Compared to getCorrespondences this function is stateless, i.e., input correspondences do not need to be provided beforehand, but are directly provided in the function call.
[in] | original_correspondences | the set of initial correspondences given |
[out] | remaining_correspondences | the resultant filtered set of remaining correspondences |
Implemented in pcl::registration::CorrespondenceRejectorTrimmed, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >, pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >, pcl::registration::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorDistance, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorFeatures, pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorOneToOne, and pcl::registration::CorrespondenceRejectionOrganizedBoundary.
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inlinevirtual |
See if this rejector requires source normals.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.
Definition at line 152 of file correspondence_rejection.h.
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inlinevirtual |
See if this rejector requires source points.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorDistance, pcl::registration::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >, and pcl::registration::CorrespondenceRejectionOrganizedBoundary.
Definition at line 140 of file correspondence_rejection.h.
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inlinevirtual |
See if this rejector requires target normals.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.
Definition at line 175 of file correspondence_rejection.h.
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inlinevirtual |
See if this rejector requires a target cloud.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorDistance, pcl::registration::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >, and pcl::registration::CorrespondenceRejectionOrganizedBoundary.
Definition at line 163 of file correspondence_rejection.h.
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inlinevirtual |
Provide a pointer to the vector of the input correspondences.
[in] | correspondences | the const boost shared pointer to a correspondence vector |
Definition at line 78 of file correspondence_rejection.h.
References input_correspondences_.
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inlinevirtual |
Abstract method for setting the source normals.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.
Definition at line 157 of file correspondence_rejection.h.
References getClassName().
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inlinevirtual |
Abstract method for setting the source cloud.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorDistance, pcl::registration::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >, and pcl::registration::CorrespondenceRejectionOrganizedBoundary.
Definition at line 145 of file correspondence_rejection.h.
References getClassName().
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inlinevirtual |
Abstract method for setting the target normals.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.
Definition at line 180 of file correspondence_rejection.h.
References getClassName().
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inlinevirtual |
Abstract method for setting the target cloud.
Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorDistance, pcl::registration::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorPoly< SourceT, TargetT >, pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >, and pcl::registration::CorrespondenceRejectionOrganizedBoundary.
Definition at line 168 of file correspondence_rejection.h.
References getClassName().
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protected |
The input correspondences.
Definition at line 191 of file correspondence_rejection.h.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::applyRejection(), pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::applyRejection(), getCorrespondences(), getInputCorrespondences(), getRejectedQueryIndices(), and setInputCorrespondences().
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protected |
The name of the rejection method.
Definition at line 188 of file correspondence_rejection.h.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::CorrespondenceRejectorSampleConsensus(), pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::CorrespondenceRejectorSampleConsensus2D(), and getClassName().