Public Member Functions | Private Types | Private Attributes
pcl::registration::DataContainer< PointT, NormalT > Class Template Reference

#include <correspondence_rejection.h>

Inheritance diagram for pcl::registration::DataContainer< PointT, NormalT >:
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List of all members.

Public Member Functions

 DataContainer ()
 Empty constructor.
double getCorrespondenceScore (int index)
 Get the correspondence score for a point in the input cloud.
double getCorrespondenceScore (const pcl::Correspondence &corr)
 Get the correspondence score for a given pair of correspondent points.
double getCorrespondenceScoreFromNormals (const pcl::Correspondence &corr)
 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.
NormalsPtr getInputNormals ()
 Get the normals computed on the input point cloud.
NormalsPtr getTargetNormals ()
 Get the normals computed on the target point cloud.
void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
void setInputNormals (const NormalsPtr &normals)
 Set the normals computed on the input point cloud.
void setInputTarget (const PointCloudConstPtr &target)
 Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
void setTargetNormals (const NormalsPtr &normals)
 Set the normals computed on the target point cloud.

Private Types

typedef pcl::KdTree< PointT >::Ptr KdTreePtr
typedef pcl::PointCloud
< NormalT >::ConstPtr 		NormalsPtr
typedef pcl::PointCloud
< PointT >::ConstPtr 		PointCloudConstPtr

Private Attributes

PointCloudConstPtr input_
 The input point cloud dataset.
NormalsPtr input_normals_
 Normals to the input point cloud.
PointCloudConstPtr target_
 The target point cloud datase.
NormalsPtr target_normals_
 Normals to the target point cloud.
KdTreePtr tree_
 A pointer to the spatial search object.

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 158 of file correspondence_rejection.h.

Member Typedef Documentation

template<typename PointT , typename NormalT = pcl::PointNormal>
typedef pcl::KdTree<PointT>::Ptr pcl::registration::DataContainer< PointT, NormalT >::KdTreePtr [private]

Definition at line 161 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
typedef pcl::PointCloud<NormalT>::ConstPtr pcl::registration::DataContainer< PointT, NormalT >::NormalsPtr [private]

Definition at line 162 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
typedef pcl::PointCloud<PointT>::ConstPtr pcl::registration::DataContainer< PointT, NormalT >::PointCloudConstPtr [private]

Definition at line 160 of file correspondence_rejection.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 167 of file correspondence_rejection.h.

Member Function Documentation

template<typename PointT , typename NormalT = pcl::PointNormal>
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( int  index) [inline, virtual]

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

Parameters:
index]index of the point in the input cloud

Implements pcl::registration::DataContainerInterface.

Definition at line 217 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
double pcl::registration::DataContainer< PointT, NormalT >::getCorrespondenceScore ( const pcl::Correspondence &  corr) [inline, virtual]

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

Parameters:
corr]Correspondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 233 of file correspondence_rejection.h.

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

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

Definition at line 248 of file correspondence_rejection.h.

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

Get the normals computed on the input point cloud.

Definition at line 207 of file correspondence_rejection.h.

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

Get the normals computed on the target point cloud.

Definition at line 211 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
void pcl::registration::DataContainer< PointT, NormalT >::setInputCloud ( 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 177 of file correspondence_rejection.h.

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

Set the normals computed on the input point cloud.

Parameters:
[in]normalsthe normals computed for the input cloud

Definition at line 197 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 187 of file correspondence_rejection.h.

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

Set the normals computed on the target point cloud.

Parameters:
[in]normalsthe normals computed for the input cloud

Definition at line 203 of file correspondence_rejection.h.

Member Data Documentation

template<typename PointT , typename NormalT = pcl::PointNormal>
PointCloudConstPtr pcl::registration::DataContainer< PointT, NormalT >::input_ [private]

The input point cloud dataset.

Definition at line 260 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::input_normals_ [private]

Normals to the input point cloud.

Definition at line 266 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
PointCloudConstPtr pcl::registration::DataContainer< PointT, NormalT >::target_ [private]

The target point cloud datase.

Definition at line 263 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
NormalsPtr pcl::registration::DataContainer< PointT, NormalT >::target_normals_ [private]

Normals to the target point cloud.

Definition at line 269 of file correspondence_rejection.h.

template<typename PointT , typename NormalT = pcl::PointNormal>
KdTreePtr pcl::registration::DataContainer< PointT, NormalT >::tree_ [private]

A pointer to the spatial search object.

Definition at line 272 of file correspondence_rejection.h.

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

pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:21