Point Cloud Library (PCL)  1.8.1-dev
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pcl::registration::CorrespondenceRejector Class Referenceabstract

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...
 
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 59 of file correspondence_rejection.h.

Member Typedef Documentation

Definition at line 63 of file correspondence_rejection.h.

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
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(), setSourceNormals(), setSourcePoints(), setTargetNormals(), and setTargetPoints().

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

Run correspondence rejection.

Parameters
[out]correspondencesVector 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]correspondencesVector of correspondences after rejection
[out]indicesVector 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_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe 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.

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

See if this rejector requires source normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 152 of file correspondence_rejection.h.

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

See if this rejector requires target normals.

Reimplemented in pcl::registration::CorrespondenceRejectorSurfaceNormal.

Definition at line 175 of file correspondence_rejection.h.

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

Provide a pointer to the vector of the input correspondences.

Parameters
[in]correspondencesthe const boost shared pointer to a correspondence vector

Definition at line 78 of file correspondence_rejection.h.

References input_correspondences_.

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 157 of file correspondence_rejection.h.

References getClassName().

virtual void pcl::registration::CorrespondenceRejector::setSourcePoints ( pcl::PCLPointCloud2::ConstPtr  )
inlinevirtual
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 180 of file correspondence_rejection.h.

References getClassName().

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

Member Data Documentation

CorrespondencesConstPtr pcl::registration::CorrespondenceRejector::input_correspondences_
protected
std::string pcl::registration::CorrespondenceRejector::rejection_name_
protected

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