#include <correspondence_rejection_surface_normal.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

Public Member Functions
	CorrespondenceRejectorSurfaceNormal ()
	Empty constructor.
template<typename NormalT >
pcl::PointCloud< NormalT >::Ptr	getInputNormals () const
	Get the normals computed on the input point cloud.
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.
template<typename NormalT >
pcl::PointCloud< NormalT >::Ptr	getTargetNormals () const
	Get the normals computed on the target point cloud.
double	getThreshold () const
	Get the thresholding angle between the normals for correspondence rejection.
template<typename PointT , typename NormalT >
void	initializeDataContainer ()
	Initialize the data container object for the point type and the normal type.
template<typename PointT >
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &input)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
template<typename PointT , typename NormalT >
void	setInputNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
	Set the normals computed on the input point cloud.
template<typename PointT >
void	setInputTarget (const typename pcl::PointCloud< PointT >::ConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
template<typename PointT , typename NormalT >
void	setTargetNormals (const typename pcl::PointCloud< NormalT >::ConstPtr &normals)
	Set the normals computed on the target point cloud.
void	setThreshold (double threshold)
	Set the thresholding angle between the normals for correspondence rejection.
Protected Types
typedef boost::shared_ptr < DataContainerInterface >	DataContainerPtr
Protected Member Functions
void	applyRejection (pcl::Correspondences &correspondences)
	Apply the rejection algorithm.
Protected Attributes
DataContainerPtr	data_container_
	A pointer to the DataContainer object containing the input and target point clouds.
double	threshold_
	The median distance threshold between two correspondent points in source <-> target.

Detailed Description

CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the angle between the normals at correspondent points.

Note:: If setInputCloud and setInputTarget are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.

Author:: Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 59 of file correspondence_rejection_surface_normal.h.

Member Typedef Documentation

typedef boost::shared_ptr<DataContainerInterface> pcl::registration::CorrespondenceRejectorSurfaceNormal::DataContainerPtr [protected]

Definition at line 164 of file correspondence_rejection_surface_normal.h.

Constructor & Destructor Documentation

pcl::registration::CorrespondenceRejectorSurfaceNormal::CorrespondenceRejectorSurfaceNormal ( ) [inline]

Empty constructor.

Definition at line 68 of file correspondence_rejection_surface_normal.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorSurfaceNormal::applyRejection ( pcl::Correspondences & correspondences ) [inline, protected, virtual]

Apply the rejection algorithm.

Parameters:

[out] correspondences the set of resultant correspondences.

Implements pcl::registration::CorrespondenceRejector.

Definition at line 155 of file correspondence_rejection_surface_normal.h.

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputNormals ( ) const [inline]

Get the normals computed on the input point cloud.

Definition at line 143 of file correspondence_rejection_surface_normal.h.

void pcl::registration::CorrespondenceRejectorSurfaceNormal::getRemainingCorrespondences	(	const pcl::Correspondences &	original_correspondences,
		pcl::Correspondences &	remaining_correspondences
	)		`[inline, virtual]`

Get a list of valid correspondences after rejection from the original set of correspondences.

Parameters:

[in]	original_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 43 of file correspondence_rejection_surface_normal.hpp.

template<typename NormalT >

pcl::PointCloud<NormalT>::Ptr pcl::registration::CorrespondenceRejectorSurfaceNormal::getTargetNormals ( ) const [inline]

Get the normals computed on the target point cloud.

Definition at line 147 of file correspondence_rejection_surface_normal.h.

double pcl::registration::CorrespondenceRejectorSurfaceNormal::getThreshold ( ) const [inline]

Get the thresholding angle between the normals for correspondence rejection.

Definition at line 90 of file correspondence_rejection_surface_normal.h.

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::initializeDataContainer ( ) [inline]

Initialize the data container object for the point type and the normal type.

Definition at line 95 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & input ) [inline]

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

Parameters:

[in] cloud a cloud containing XYZ data

Definition at line 104 of file correspondence_rejection_surface_normal.h.

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputNormals ( const typename pcl::PointCloud< NormalT >::ConstPtr & normals ) [inline]

Set the normals computed on the input point cloud.

Parameters:

[in] normals the normals computed for the input cloud

Definition at line 125 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputTarget ( const typename pcl::PointCloud< PointT >::ConstPtr & target ) [inline]

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

Parameters:

[in] target a cloud containing XYZ data

Definition at line 115 of file correspondence_rejection_surface_normal.h.

template<typename PointT , typename NormalT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals ( const typename pcl::PointCloud< NormalT >::ConstPtr & normals ) [inline]

Set the normals computed on the target point cloud.

Parameters:

[in] normals the normals computed for the input cloud

Definition at line 135 of file correspondence_rejection_surface_normal.h.

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setThreshold ( double threshold ) [inline]

Set the thresholding angle between the normals for correspondence rejection.

Parameters:

[in] threshold cosine of the thresholding angle between the normals for rejection

Definition at line 86 of file correspondence_rejection_surface_normal.h.

Member Data Documentation

DataContainerPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::data_container_ [protected]

A pointer to the DataContainer object containing the input and target point clouds.

Definition at line 167 of file correspondence_rejection_surface_normal.h.

double pcl::registration::CorrespondenceRejectorSurfaceNormal::threshold_ [protected]

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

Definition at line 162 of file correspondence_rejection_surface_normal.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation