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

#include <pcl/registration/correspondence_rejection.h>

Inheritance diagram for pcl::registration::CorrespondenceRejector:

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...

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 59 of file correspondence_rejection.h.

Member Typedef Documentation

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.

Constructor & Destructor Documentation

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

inline

Empty constructor.

Definition at line 66 of file correspondence_rejection.h.

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

inlinevirtual

Empty destructor.

Definition at line 72 of file correspondence_rejection.h.

Member Function Documentation

virtual void pcl::registration::CorrespondenceRejector::applyRejection ( Correspondences & correspondences)

protectedpure virtual

Abstract rejection method.

Referenced by getCorrespondences().

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

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().

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 93 of file correspondence_rejection.h.

References applyRejection(), and input_correspondences_.

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

inline

Get a pointer to the vector of the input correspondences.

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

Definition at line 87 of file correspondence_rejection.h.

References input_correspondences_.

void pcl::registration::CorrespondenceRejector::getRejectedQueryIndices	(	const pcl::Correspondences &	correspondences,
		std::vector< int > &	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 121 of file correspondence_rejection.h.

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

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