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>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

Collaboration diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

Public Types
typedef boost::shared_ptr < CorrespondenceRejectorSurfaceNormal >	Ptr

typedef boost::shared_ptr < const CorrespondenceRejectorSurfaceNormal >	ConstPtr

Public Types inherited from pcl::registration::CorrespondenceRejector
typedef boost::shared_ptr < CorrespondenceRejector >	Ptr

typedef boost::shared_ptr < const CorrespondenceRejector >	ConstPtr

Public Member Functions
	CorrespondenceRejectorSurfaceNormal ()
	Empty constructor. More...

void	getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences)
	Get a list of valid correspondences after rejection from the original set of correspondences. More...

void	setThreshold (double threshold)
	Set the thresholding angle between the normals for correspondence rejection. More...

double	getThreshold () const
	Get the thresholding angle between the normals for correspondence rejection. More...

template<typename PointT , typename NormalT >
void	initializeDataContainer ()
	Initialize the data container object for the point type and the normal type. More...

template<typename PointT >
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &input)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...

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...

template<typename PointT >
pcl::PointCloud< PointT >::ConstPtr	getInputSource () const
	Get the target input point cloud. More...

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...

template<typename PointT >
void	setSearchMethodTarget (const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud. More...

template<typename PointT >
pcl::PointCloud< PointT >::ConstPtr	getInputTarget () const
	Get the target input point cloud. More...

template<typename PointT , typename NormalT >
void	setInputNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
	Set the normals computed on the input point cloud. More...

template<typename NormalT >
pcl::PointCloud< NormalT >::Ptr	getInputNormals () const
	Get the normals computed on the input point cloud. More...

template<typename PointT , typename NormalT >
void	setTargetNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
	Set the normals computed on the target point cloud. More...

template<typename NormalT >
pcl::PointCloud< NormalT >::Ptr	getTargetNormals () const
	Get the normals computed on the target point cloud. More...

bool	requiresSourcePoints () const
	See if this rejector requires source points. More...

void	setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
	Blob method for setting the source cloud. More...

bool	requiresTargetPoints () const
	See if this rejector requires a target cloud. More...

void	setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
	Method for setting the target cloud. More...

bool	requiresSourceNormals () const
	See if this rejector requires source normals. More...

void	setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
	Blob method for setting the source normals. More...

bool	requiresTargetNormals () const
	See if this rejector requires target normals. More...

void	setTargetNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
	Method for setting the target normals. More...

Public Member Functions inherited from pcl::registration::CorrespondenceRejector
	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...

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...

Protected Types
typedef boost::shared_ptr < DataContainerInterface >	DataContainerPtr

Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm. More...

Protected Attributes
double	threshold_
	The median distance threshold between two correspondent points in source <-> target. More...

DataContainerPtr	data_container_
	A pointer to the DataContainer object containing the input and target point clouds. More...

Protected Attributes inherited from pcl::registration::CorrespondenceRejector
std::string	rejection_name_
	The name of the rejection method. More...

CorrespondencesConstPtr	input_correspondences_
	The input correspondences. More...

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.

Author: Aravindhan K Krishnan (original code from libpointmatcher: https://github.com/ethz-asl/libpointmatcher)

Definition at line 60 of file correspondence_rejection_surface_normal.h.

Member Typedef Documentation

typedef boost::shared_ptr<const CorrespondenceRejectorSurfaceNormal> pcl::registration::CorrespondenceRejectorSurfaceNormal::ConstPtr

Definition at line 68 of file correspondence_rejection_surface_normal.h.

typedef boost::shared_ptr<DataContainerInterface> pcl::registration::CorrespondenceRejectorSurfaceNormal::DataContainerPtr

protected

Definition at line 316 of file correspondence_rejection_surface_normal.h.

typedef boost::shared_ptr<CorrespondenceRejectorSurfaceNormal> pcl::registration::CorrespondenceRejectorSurfaceNormal::Ptr

Definition at line 67 of file correspondence_rejection_surface_normal.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorSurfaceNormal::CorrespondenceRejectorSurfaceNormal ( )

inline

Empty constructor.

Sets the threshold to 1.0.

Definition at line 71 of file correspondence_rejection_surface_normal.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorSurfaceNormal::applyRejection ( pcl::Correspondences & correspondences )

inlineprotectedvirtual

Apply the rejection algorithm.

Parameters

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 308 of file correspondence_rejection_surface_normal.h.

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputNormals ( ) const

inline

Get the normals computed on the input point cloud.

Definition at line 201 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

pcl::PointCloud<PointT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputSource ( ) const

inline

Get the target input point cloud.

Definition at line 134 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

pcl::PointCloud<PointT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputTarget ( ) const

inline

Get the target input point cloud.

Definition at line 175 of file correspondence_rejection_surface_normal.h.

void pcl::registration::CorrespondenceRejectorSurfaceNormal::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)

virtual

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

Parameters

[in]	original_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getTargetNormals ( ) const

inline

Get the normals computed on the target point cloud.

Definition at line 227 of file correspondence_rejection_surface_normal.h.

double pcl::registration::CorrespondenceRejectorSurfaceNormal::getThreshold ( ) const

inline

Get the thresholding angle between the normals for correspondence rejection.

Definition at line 94 of file correspondence_rejection_surface_normal.h.

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::initializeDataContainer ( )

inline

Initialize the data container object for the point type and the normal type.

Definition at line 98 of file correspondence_rejection_surface_normal.h.

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourceNormals ( ) const

inlinevirtual

See if this rejector requires source normals.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 272 of file correspondence_rejection_surface_normal.h.

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresSourcePoints ( ) const

inlinevirtual

See if this rejector requires source points.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 240 of file correspondence_rejection_surface_normal.h.

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetNormals ( ) const

inlinevirtual

See if this rejector requires target normals.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 288 of file correspondence_rejection_surface_normal.h.

bool pcl::registration::CorrespondenceRejectorSurfaceNormal::requiresTargetPoints ( ) const

inlinevirtual

See if this rejector requires a target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 256 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & input )

inline

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

Parameters

[in] input a cloud containing XYZ data

Definition at line 107 of file correspondence_rejection_surface_normal.h.

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputNormals ( const typename pcl::PointCloud< NormalT >::ConstPtr & normals )

inline

Set the normals computed on the input point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 189 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputSource ( const typename pcl::PointCloud< PointT >::ConstPtr & input )

inline

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

Parameters

[in] input a cloud containing XYZ data

Definition at line 122 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::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] target a cloud containing XYZ data

Definition at line 148 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setSearchMethodTarget	(	const boost::shared_ptr< pcl::search::KdTree< PointT > > &	tree,
		bool	force_no_recompute = `false`
	)

inline

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters

[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 166 of file correspondence_rejection_surface_normal.h.

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setSourceNormals ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inlinevirtual

Blob method for setting the source normals.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 277 of file correspondence_rejection_surface_normal.h.

References pcl::fromPCLPointCloud2().

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inlinevirtual

Blob method for setting the source cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 245 of file correspondence_rejection_surface_normal.h.

References pcl::fromPCLPointCloud2().

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals ( const typename pcl::PointCloud< NormalT >::ConstPtr & normals )

inline

Set the normals computed on the target point cloud.

Parameters

[in] normals the normals computed for the input cloud

Definition at line 215 of file correspondence_rejection_surface_normal.h.

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inlinevirtual

Method for setting the target normals.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 293 of file correspondence_rejection_surface_normal.h.

References pcl::fromPCLPointCloud2().

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetPoints ( pcl::PCLPointCloud2::ConstPtr cloud2 )

inlinevirtual

Method for setting the target cloud.

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 261 of file correspondence_rejection_surface_normal.h.

References pcl::fromPCLPointCloud2().

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setThreshold ( double threshold )

inline

Set the thresholding angle between the normals for correspondence rejection.

Parameters

[in] threshold cosine of the thresholding angle between the normals for rejection

Definition at line 90 of file correspondence_rejection_surface_normal.h.

Member Data Documentation

DataContainerPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::data_container_

protected

A pointer to the DataContainer object containing the input and target point clouds.

Definition at line 318 of file correspondence_rejection_surface_normal.h.

double pcl::registration::CorrespondenceRejectorSurfaceNormal::threshold_

protected

The median distance threshold between two correspondent points in source <-> target.

Definition at line 314 of file correspondence_rejection_surface_normal.h.

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

/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/registration/include/pcl/registration/correspondence_rejection_surface_normal.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation