#include <correspondence_rejection_distance.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorDistance:

Public Types
typedef boost::shared_ptr < const CorrespondenceRejectorDistance >	ConstPtr
typedef boost::shared_ptr < CorrespondenceRejectorDistance >	Ptr
Public Member Functions
	CorrespondenceRejectorDistance ()
	Empty constructor.
float	getMaximumDistance ()
	Get the maximum distance used for thresholding in correspondence rejection.
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 PointT >
void	setInputCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
template<typename PointT >
void	setInputSource (const typename pcl::PointCloud< PointT >::ConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
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.
virtual void	setMaximumDistance (float distance)
	Set the maximum distance used for thresholding in correspondence rejection.
template<typename PointT >
void	setSearchMethodTarget (const boost::shared_ptr< pcl::search::KdTree< PointT > > &tree, bool force_no_recompute=false)
	Provide a pointer to the search object used to find correspondences in the target cloud.
virtual	~CorrespondenceRejectorDistance ()
	Empty destructor.
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.
float	max_distance_
	The maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will not be ignored in the alignment process.

Detailed Description

CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences.

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:: Dirk Holz, Radu B. Rusu

Definition at line 61 of file correspondence_rejection_distance.h.

Member Typedef Documentation

typedef boost::shared_ptr<const CorrespondenceRejectorDistance> pcl::registration::CorrespondenceRejectorDistance::ConstPtr

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 69 of file correspondence_rejection_distance.h.

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

Definition at line 170 of file correspondence_rejection_distance.h.

typedef boost::shared_ptr<CorrespondenceRejectorDistance> pcl::registration::CorrespondenceRejectorDistance::Ptr

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 68 of file correspondence_rejection_distance.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 72 of file correspondence_rejection_distance.h.

virtual pcl::registration::CorrespondenceRejectorDistance::~CorrespondenceRejectorDistance ( ) [inline, virtual]

Empty destructor.

Definition at line 79 of file correspondence_rejection_distance.h.

Member Function Documentation

void pcl::registration::CorrespondenceRejectorDistance::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 160 of file correspondence_rejection_distance.h.

float pcl::registration::CorrespondenceRejectorDistance::getMaximumDistance ( ) [inline]

Get the maximum distance used for thresholding in correspondence rejection.

Definition at line 99 of file correspondence_rejection_distance.h.

void pcl::registration::CorrespondenceRejectorDistance::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_correspondences	the set of initial correspondences given
[out]	remaining_correspondences	the resultant filtered set of remaining correspondences

Implements pcl::registration::CorrespondenceRejector.

Definition at line 44 of file correspondence_rejection_distance.cpp.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::setInputCloud ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud ) [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 106 of file correspondence_rejection_distance.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::setInputSource ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud ) [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 119 of file correspondence_rejection_distance.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::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 131 of file correspondence_rejection_distance.h.

virtual void pcl::registration::CorrespondenceRejectorDistance::setMaximumDistance ( float distance ) [inline, virtual]

Set the maximum distance used for thresholding in correspondence rejection.

Parameters:

[in] distance Distance to be used as maximum distance between correspondences. Correspondences with larger distances are rejected.

Note:: Internally, the distance will be stored squared.

Definition at line 95 of file correspondence_rejection_distance.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorDistance::setSearchMethodTarget	(	const boost::shared_ptr< pcl::search::KdTree< PointT > > &	tree,
		bool	force_no_recompute = `false`
	)		`[inline]`

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

Parameters:

[in]	tree	a pointer to the spatial search object.
[in]	force_no_recompute	If 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 146 of file correspondence_rejection_distance.h.

Member Data Documentation

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

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

Definition at line 173 of file correspondence_rejection_distance.h.

float pcl::registration::CorrespondenceRejectorDistance::max_distance_ [protected]

The maximum distance threshold between two correspondent points in source <-> target. If the distance is larger than this threshold, the points will not be ignored in the alignment process.

Definition at line 168 of file correspondence_rejection_distance.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation