Point Cloud Library (PCL)  1.8.1-dev
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pcl::registration::CorrespondenceRejectorFeatures Class Reference

CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...

#include <pcl/registration/correspondence_rejection_features.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorFeatures:

Classes

class  FeatureContainer
 An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More...
 
class  FeatureContainerInterface
 

Public Types

typedef boost::shared_ptr
< CorrespondenceRejectorFeatures
Ptr
 
typedef boost::shared_ptr
< const
CorrespondenceRejectorFeatures
ConstPtr
 
- Public Types inherited from pcl::registration::CorrespondenceRejector
typedef boost::shared_ptr
< CorrespondenceRejector
Ptr
 
typedef boost::shared_ptr
< const CorrespondenceRejector
ConstPtr
 

Public Member Functions

 CorrespondenceRejectorFeatures ()
 Empty constructor. More...
 
virtual ~CorrespondenceRejectorFeatures ()
 Empty destructor. 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...
 
template<typename FeatureT >
void setSourceFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &source_feature, const std::string &key)
 Provide a pointer to a cloud of feature descriptors associated with the source point cloud. More...
 
template<typename FeatureT >
pcl::PointCloud< FeatureT >
::ConstPtr 
getSourceFeature (const std::string &key)
 Get a pointer to the source cloud's feature descriptors, specified by the given key. More...
 
template<typename FeatureT >
void setTargetFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &target_feature, const std::string &key)
 Provide a pointer to a cloud of feature descriptors associated with the target point cloud. More...
 
template<typename FeatureT >
pcl::PointCloud< FeatureT >
::ConstPtr 
getTargetFeature (const std::string &key)
 Get a pointer to the source cloud's feature descriptors, specified by the given key. More...
 
template<typename FeatureT >
void setDistanceThreshold (double thresh, const std::string &key)
 Set a hard distance threshold in the feature FeatureT space, between source and target features. More...
 
bool hasValidFeatures ()
 Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method) More...
 
template<typename FeatureT >
void setFeatureRepresentation (const typename pcl::PointRepresentation< FeatureT >::ConstPtr &fr, const std::string &key)
 Provide a boost shared pointer to a PointRepresentation to be used when comparing features. 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...
 
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 Types

typedef boost::unordered_map
< std::string,
boost::shared_ptr
< FeatureContainerInterface > > 
FeaturesMap
 

Protected Member Functions

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

Protected Attributes

float max_distance_
 The maximum distance threshold between two correspondent points in source <-> target. More...
 
FeaturesMap features_map_
 An STL map containing features to use when performing the correspondence search. 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

CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors.

Given an input feature space, the method checks if each feature in the source cloud has a correspondence in the target cloud, either by checking the first K (given) point correspondences, or by defining a tolerance threshold via a radius in feature space.

Definition at line 60 of file correspondence_rejection_features.h.

Member Typedef Documentation

Definition at line 68 of file correspondence_rejection_features.h.

typedef boost::unordered_map<std::string, boost::shared_ptr<FeatureContainerInterface> > pcl::registration::CorrespondenceRejectorFeatures::FeaturesMap
protected

Definition at line 164 of file correspondence_rejection_features.h.

Definition at line 67 of file correspondence_rejection_features.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorFeatures::CorrespondenceRejectorFeatures ( )
inline

Empty constructor.

Definition at line 71 of file correspondence_rejection_features.h.

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

Empty destructor.

Definition at line 77 of file correspondence_rejection_features.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorFeatures::applyRejection ( pcl::Correspondences correspondences)
inlineprotectedvirtual

Apply the rejection algorithm.

Parameters
[out]correspondencesthe set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 144 of file correspondence_rejection_features.h.

void pcl::registration::CorrespondenceRejectorFeatures::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_correspondencesthe set of initial correspondences given
[out]remaining_correspondencesthe resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

template<typename FeatureT >
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature ( const std::string &  key)
inline

Get a pointer to the source cloud's feature descriptors, specified by the given key.

Parameters
[in]keya string that uniquely identifies the feature (must match the key provided by setSourceFeature)

Definition at line 55 of file correspondence_rejection_features.hpp.

References pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getSourceFeature().

template<typename FeatureT >
pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature ( const std::string &  key)
inline

Get a pointer to the source cloud's feature descriptors, specified by the given key.

Parameters
[in]keya string that uniquely identifies the feature (must match the key provided by setTargetFeature)

Definition at line 75 of file correspondence_rejection_features.hpp.

References pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getTargetFeature().

bool pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures ( )
inline

Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method)

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold ( double  thresh,
const std::string &  key 
)
inline

Set a hard distance threshold in the feature FeatureT space, between source and target features.

Any feature correspondence that is above this threshold will be considered bad and will be filtered out.

Parameters
[in]threshthe distance threshold
[in]keya string that uniquely identifies the feature

Definition at line 85 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation ( const typename pcl::PointRepresentation< FeatureT >::ConstPtr fr,
const std::string &  key 
)
inline

Provide a boost shared pointer to a PointRepresentation to be used when comparing features.

Parameters
[in]keya string that uniquely identifies the feature
[in]frthe point feature representation to be used

Definition at line 97 of file correspondence_rejection_features.hpp.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature ( const typename pcl::PointCloud< FeatureT >::ConstPtr source_feature,
const std::string &  key 
)
inline

Provide a pointer to a cloud of feature descriptors associated with the source point cloud.

Parameters
[in]source_featurea cloud of feature descriptors associated with the source point cloud
[in]keya string that uniquely identifies the feature

Definition at line 45 of file correspondence_rejection_features.hpp.

References features_map_.

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature ( const typename pcl::PointCloud< FeatureT >::ConstPtr target_feature,
const std::string &  key 
)
inline

Provide a pointer to a cloud of feature descriptors associated with the target point cloud.

Parameters
[in]target_featurea cloud of feature descriptors associated with the target point cloud
[in]keya string that uniquely identifies the feature

Definition at line 65 of file correspondence_rejection_features.hpp.

Member Data Documentation

FeaturesMap pcl::registration::CorrespondenceRejectorFeatures::features_map_
protected

An STL map containing features to use when performing the correspondence search.

Definition at line 167 of file correspondence_rejection_features.h.

Referenced by setSourceFeature().

float pcl::registration::CorrespondenceRejectorFeatures::max_distance_
protected

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

If the distance is larger than this threshold, the points will not be ignored in the alignment process.

Definition at line 152 of file correspondence_rejection_features.h.


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