Point Cloud Library (PCL)  1.9.1-dev
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pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT > Class Template Reference

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

#include <pcl/registration/correspondence_rejection_features.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >:

Public Types

using FeatureCloudConstPtr = typename pcl::PointCloud< FeatureT >::ConstPtr
 
using SearchMethod = std::function< int(const pcl::PointCloud< FeatureT > &, int, std::vector< int > &, std::vector< float > &)>
 
using PointRepresentationConstPtr = typename pcl::PointRepresentation< FeatureT >::ConstPtr
 
- Public Types inherited from pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface
using Ptr = boost::shared_ptr< FeatureContainerInterface >
 

Public Member Functions

 FeatureContainer ()
 
 ~FeatureContainer ()
 Empty destructor. More...
 
void setSourceFeature (const FeatureCloudConstPtr &source_features)
 
FeatureCloudConstPtr getSourceFeature ()
 
void setTargetFeature (const FeatureCloudConstPtr &target_features)
 
FeatureCloudConstPtr getTargetFeature ()
 
void setDistanceThreshold (double thresh)
 
bool isValid () override
 
void setFeatureRepresentation (const PointRepresentationConstPtr &fr)
 Provide a boost shared pointer to a PointRepresentation to be used when comparing features. More...
 
double getCorrespondenceScore (int index) override
 Obtain a score between a pair of correspondences. More...
 
bool isCorrespondenceValid (int index) override
 Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold. More...
 
- Public Member Functions inherited from pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface
virtual ~FeatureContainerInterface ()=default
 Empty destructor. More...
 

Detailed Description

template<typename FeatureT>
class pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >

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

This class extends FeatureContainerInterface, which contains abstract methods for any methods that do not depend on the FeatureT — these methods can thus be called from a pointer to FeatureContainerInterface without casting to the derived class.

Definition at line 180 of file correspondence_rejection_features.h.

Member Typedef Documentation

◆ FeatureCloudConstPtr

template<typename FeatureT >
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureCloudConstPtr = typename pcl::PointCloud<FeatureT>::ConstPtr

Definition at line 183 of file correspondence_rejection_features.h.

◆ PointRepresentationConstPtr

Definition at line 186 of file correspondence_rejection_features.h.

◆ SearchMethod

template<typename FeatureT >
using pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::SearchMethod = std::function<int (const pcl::PointCloud<FeatureT> &, int, std::vector<int> &, std::vector<float> &)>

Definition at line 184 of file correspondence_rejection_features.h.

Constructor & Destructor Documentation

◆ FeatureContainer()

template<typename FeatureT >
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::FeatureContainer ( )
inline

Definition at line 188 of file correspondence_rejection_features.h.

◆ ~FeatureContainer()

template<typename FeatureT >
pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::~FeatureContainer ( )
inline

Empty destructor.

Definition at line 193 of file correspondence_rejection_features.h.

Member Function Documentation

◆ getCorrespondenceScore()

template<typename FeatureT >
double pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getCorrespondenceScore ( int  index)
inlineoverridevirtual

Obtain a score between a pair of correspondences.

Parameters
[in]indexthe index to check in the list of correspondences
Returns
score the resultant computed score

Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.

Definition at line 248 of file correspondence_rejection_features.h.

◆ getSourceFeature()

template<typename FeatureT >
FeatureCloudConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getSourceFeature ( )
inline

◆ getTargetFeature()

template<typename FeatureT >
FeatureCloudConstPtr pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::getTargetFeature ( )
inline

◆ isCorrespondenceValid()

template<typename FeatureT >
bool pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::isCorrespondenceValid ( int  index)
inlineoverridevirtual

Check whether the correspondence pair at the given index is valid by computing the score and testing it against the user given threshold.

Parameters
[in]indexthe index to check in the list of correspondences
Returns
true if the correspondence is good, false otherwise

Implements pcl::registration::CorrespondenceRejectorFeatures::FeatureContainerInterface.

Definition at line 281 of file correspondence_rejection_features.h.

◆ isValid()

template<typename FeatureT >
bool pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::isValid ( )
inlineoverridevirtual

◆ setDistanceThreshold()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setDistanceThreshold ( double  thresh)
inline

Definition at line 220 of file correspondence_rejection_features.h.

◆ setFeatureRepresentation()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setFeatureRepresentation ( const PointRepresentationConstPtr fr)
inline

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

Parameters
[in]frthe point feature representation to be used

Definition at line 238 of file correspondence_rejection_features.h.

◆ setSourceFeature()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setSourceFeature ( const FeatureCloudConstPtr source_features)
inline

Definition at line 196 of file correspondence_rejection_features.h.

◆ setTargetFeature()

template<typename FeatureT >
void pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer< FeatureT >::setTargetFeature ( const FeatureCloudConstPtr target_features)
inline

Definition at line 208 of file correspondence_rejection_features.h.


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