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CorrespondenceRejector represents the base class for correspondence rejection methods More...

#include <pcl/registration/correspondence_rejection.h>

Public Types

using Ptr = shared_ptr< CorrespondenceRejector >
using ConstPtr = shared_ptr< const CorrespondenceRejector >

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, pcl::Indices &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...

Detailed Description

CorrespondenceRejector represents the base class for correspondence rejection methods

Author
Dirk Holz

Definition at line 54 of file correspondence_rejection.h.

Member Typedef Documentation

ConstPtr

Ptr

Constructor & Destructor Documentation

CorrespondenceRejector()

pcl::registration::CorrespondenceRejector::CorrespondenceRejector ( )
inline

Empty constructor.

Definition at line 60 of file correspondence_rejection.h.

~CorrespondenceRejector()

virtual pcl::registration::CorrespondenceRejector::~CorrespondenceRejector ( )
inlinevirtual

Empty destructor.

Definition at line 63 of file correspondence_rejection.h.

Member Function Documentation

applyRejection()

getClassName()

const std::string& pcl::registration::CorrespondenceRejector::getClassName ( ) const
inline

Get a string representation of the name of this class.

Definition at line 131 of file correspondence_rejection.h.

References rejection_name_.

Referenced by getRejectedQueryIndices(), setSourceNormals(), setSourcePoints(), setTargetNormals(), and setTargetPoints().

getCorrespondences()

void pcl::registration::CorrespondenceRejector::getCorrespondences ( pcl::Correspondences & correspondences )
inline

Run correspondence rejection.

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

Definition at line 87 of file correspondence_rejection.h.

References applyRejection(), and input_correspondences_.

getInputCorrespondences()

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::getInputCorrespondences ( )
inline

Get a pointer to the vector of the input correspondences.

Returns
correspondences the const shared pointer to a correspondence vector

Definition at line 78 of file correspondence_rejection.h.

References input_correspondences_.

getRejectedQueryIndices()

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices ( const pcl::Correspondences & correspondences,
pcl::Indices & indices
)
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.

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

Definition at line 116 of file correspondence_rejection.h.

References getClassName(), pcl::getRejectedQueryIndices(), and input_correspondences_.

getRemainingCorrespondences()

virtual void pcl::registration::CorrespondenceRejector::getRemainingCorrespondences ( const pcl::Correspondences & original_correspondences,
pcl::Correspondences & remaining_correspondences
)
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.

Parameters
[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::CorrespondenceRejectorVarTrimmed, pcl::registration::CorrespondenceRejectorDistance, pcl::registration::CorrespondenceRejectorFeatures, pcl::registration::CorrespondenceRejectorMedianDistance, pcl::registration::CorrespondenceRejectorSurfaceNormal, pcl::registration::CorrespondenceRejectorOneToOne, pcl::registration::CorrespondenceRejectionOrganizedBoundary, and pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >.

requiresSourceNormals()

virtual bool pcl::registration::CorrespondenceRejector::requiresSourceNormals ( ) const
inlinevirtual

See if this rejector requires source normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 153 of file correspondence_rejection.h.

requiresSourcePoints()

requiresTargetNormals()

virtual bool pcl::registration::CorrespondenceRejector::requiresTargetNormals ( ) const
inlinevirtual

See if this rejector requires target normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 182 of file correspondence_rejection.h.

requiresTargetPoints()

setInputCorrespondences()

virtual void pcl::registration::CorrespondenceRejector::setInputCorrespondences ( const CorrespondencesConstPtr & correspondences )
inlinevirtual

Provide a pointer to the vector of the input correspondences.

Parameters
[in] correspondences the const shared pointer to a correspondence vector

Definition at line 69 of file correspondence_rejection.h.

References input_correspondences_.

setSourceNormals()

virtual void pcl::registration::CorrespondenceRejector::setSourceNormals ( pcl::PCLPointCloud2::ConstPtr )
inlinevirtual

Abstract method for setting the source normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 159 of file correspondence_rejection.h.

References getClassName().

setSourcePoints()

setTargetNormals()

virtual void pcl::registration::CorrespondenceRejector::setTargetNormals ( pcl::PCLPointCloud2::ConstPtr )
inlinevirtual

Abstract method for setting the target normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 188 of file correspondence_rejection.h.

References getClassName().

setTargetPoints()

Member Data Documentation

input_correspondences_

rejection_name_


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_rejector.html