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

CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating duplicate match indices in the correspondences. More...

#include <pcl/registration/correspondence_rejection_one_to_one.h>

+ Inheritance diagram for pcl::registration::CorrespondenceRejectorOneToOne:

Public Types

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

Public Member Functions

 CorrespondenceRejectorOneToOne ()
 Empty constructor. 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...
 
- 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 Member Functions

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

Additional Inherited Members

- 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

CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating duplicate match indices in the correspondences.

Correspondences with the same match index are removed and only the one with smallest distance between query and match are kept. That is, considering match->query 1-m correspondences are removed leaving only 1-1 correspondences.

Author
Dirk Holz

Definition at line 58 of file correspondence_rejection_one_to_one.h.

Member Typedef Documentation

Definition at line 66 of file correspondence_rejection_one_to_one.h.

Definition at line 65 of file correspondence_rejection_one_to_one.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorOneToOne::CorrespondenceRejectorOneToOne ( )
inline

Empty constructor.

Definition at line 69 of file correspondence_rejection_one_to_one.h.

Member Function Documentation

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

Apply the rejection algorithm.

Parameters
[out]correspondencesthe set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 87 of file correspondence_rejection_one_to_one.h.

void pcl::registration::CorrespondenceRejectorOneToOne::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.


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