Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Member Functions
pcl::registration::DataContainer< PointT, NormalT > Class Template Reference

DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds More...

#include <pcl/registration/correspondence_rejection.h>

+ Inheritance diagram for pcl::registration::DataContainer< PointT, NormalT >:

Public Member Functions

 DataContainer (bool needs_normals=false)
 Empty constructor. More...
 
virtual ~DataContainer ()
 Empty destructor. More...
 
void setInputSource (const PointCloudConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
PointCloudConstPtr const getInputSource ()
 Get a pointer to the input point cloud dataset target. More...
 
void setInputTarget (const PointCloudConstPtr &target)
 Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. More...
 
PointCloudConstPtr const getInputTarget ()
 Get a pointer to the input point cloud dataset target. More...
 
void setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false)
 Provide a pointer to the search object used to find correspondences in the target cloud. More...
 
void setInputNormals (const NormalsConstPtr &normals)
 Set the normals computed on the input point cloud. More...
 
NormalsConstPtr getInputNormals ()
 Get the normals computed on the input point cloud. More...
 
void setTargetNormals (const NormalsConstPtr &normals)
 Set the normals computed on the target point cloud. More...
 
NormalsConstPtr getTargetNormals ()
 Get the normals computed on the target point cloud. More...
 
double getCorrespondenceScore (int index)
 Get the correspondence score for a point in the input cloud. More...
 
double getCorrespondenceScore (const pcl::Correspondence &corr)
 Get the correspondence score for a given pair of correspondent points. More...
 
double getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr)
 Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals. More...
 
- Public Member Functions inherited from pcl::registration::DataContainerInterface
virtual ~DataContainerInterface ()
 

Detailed Description

template<typename PointT, typename NormalT = pcl::PointNormal>
class pcl::registration::DataContainer< PointT, NormalT >

DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds

Definition at line 216 of file correspondence_rejection.h.

Constructor & Destructor Documentation

template<typename PointT , typename NormalT = pcl::PointNormal>
pcl::registration::DataContainer< PointT, NormalT >::DataContainer ( bool  needs_normals = false)
inline

Empty constructor.

Definition at line 231 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
virtual pcl::registration::DataContainer< PointT, NormalT >::~DataContainer ( )
inlinevirtual

Empty destructor.

Definition at line 247 of file correspondence_rejection.h.

Member Function Documentation

template<typename PointT , typename NormalT = pcl::PointNormal>
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( int  index)
inlinevirtual

Get the correspondence score for a point in the input cloud.

Parameters
[in]indexindex of the point in the input cloud

Implements pcl::registration::DataContainerInterface.

Definition at line 321 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( const pcl::Correspondence corr)
inlinevirtual

Get the correspondence score for a given pair of correspondent points.

Parameters
[in]corrCorrespondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 339 of file correspondence_rejection.h.

References pcl::Correspondence::index_match, and pcl::Correspondence::index_query.

template<typename PointT , typename NormalT = pcl::PointNormal>
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScoreFromNormals ( const pcl::Correspondence corr)
inlinevirtual

Get the correspondence score for a given pair of correspondent points based on the angle betweeen the normals.

The normmals for the in put and target clouds must be set before using this function

Parameters
[in]corrCorrespondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 354 of file correspondence_rejection.h.

References pcl::Correspondence::index_match, and pcl::Correspondence::index_query.

template<typename PointT , typename NormalT = pcl::PointNormal>
NormalsConstPtr pcl::registration::DataContainer< PointT, NormalT >::getInputNormals ( )
inline

Get the normals computed on the input point cloud.

Definition at line 305 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
PointCloudConstPtr const pcl::registration::DataContainer< PointT, NormalT >::getInputSource ( )
inline

Get a pointer to the input point cloud dataset target.

Definition at line 261 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
PointCloudConstPtr const pcl::registration::DataContainer< PointT, NormalT >::getInputTarget ( )
inline

Get a pointer to the input point cloud dataset target.

Definition at line 276 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
NormalsConstPtr pcl::registration::DataContainer< PointT, NormalT >::getTargetNormals ( )
inline

Get the normals computed on the target point cloud.

Definition at line 315 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
void pcl::registration::DataContainer< PointT, NormalT >::setInputNormals ( const NormalsConstPtr &  normals)
inline

Set the normals computed on the input point cloud.

Parameters
[in]normalsthe normals computed for the input cloud

Definition at line 301 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
void pcl::registration::DataContainer< PointT, NormalT >::setInputSource ( const PointCloudConstPtr &  cloud)
inline

Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters
[in]clouda cloud containing XYZ data

Definition at line 254 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
void pcl::registration::DataContainer< PointT, NormalT >::setInputTarget ( const PointCloudConstPtr &  target)
inline

Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.

Parameters
[in]targeta cloud containing XYZ data

Definition at line 268 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
void pcl::registration::DataContainer< PointT, NormalT >::setSearchMethodTarget ( const KdTreePtr &  tree,
bool  force_no_recompute = false 
)
inline

Provide a pointer to the search object used to find correspondences in the target cloud.

Parameters
[in]treea pointer to the spatial search object.
[in]force_no_recomputeIf set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly.

Definition at line 286 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
void pcl::registration::DataContainer< PointT, NormalT >::setTargetNormals ( const NormalsConstPtr &  normals)
inline

Set the normals computed on the target point cloud.

Parameters
[in]normalsthe normals computed for the input cloud

Definition at line 311 of file correspondence_rejection.h.


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