#include <correspondence_rejection_surface_normal.h>

Inheritance diagram for pcl::registration::CorrespondenceRejectorSurfaceNormal:

Public Types
typedef boost::shared_ptr < const CorrespondenceRejectorSurfaceNormal >	ConstPtr
typedef boost::shared_ptr < CorrespondenceRejectorSurfaceNormal >	Ptr
Public Member Functions
	CorrespondenceRejectorSurfaceNormal ()
	Empty constructor. Sets the threshold to 1.0.
template<typename NormalT >
pcl::PointCloud< NormalT >::Ptr	getInputNormals () const
	Get the normals computed on the input point cloud.
template<typename PointT >
pcl::PointCloud< PointT >::ConstPtr	getInputSource () const
	Get the target input point cloud.
template<typename PointT >
pcl::PointCloud< PointT >::ConstPtr	getInputTarget () const
	Get the target 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	setInputSource (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 >
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 >
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.
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 (original code from libpointmatcher: https://github.com/ethz-asl/libpointmatcher)

Definition at line 60 of file correspondence_rejection_surface_normal.h.

Member Typedef Documentation

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

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 68 of file correspondence_rejection_surface_normal.h.

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

Definition at line 251 of file correspondence_rejection_surface_normal.h.

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

Reimplemented from pcl::registration::CorrespondenceRejector.

Definition at line 67 of file correspondence_rejection_surface_normal.h.

Constructor & Destructor Documentation

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

Empty constructor. Sets the threshold to 1.0.

Definition at line 71 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 243 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 201 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

pcl::PointCloud<PointT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputSource ( ) const [inline]

Get the target input point cloud.

Definition at line 134 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

pcl::PointCloud<PointT>::ConstPtr pcl::registration::CorrespondenceRejectorSurfaceNormal::getInputTarget ( ) const [inline]

Get the target input point cloud.

Definition at line 175 of file correspondence_rejection_surface_normal.h.

void pcl::registration::CorrespondenceRejectorSurfaceNormal::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_surface_normal.cpp.

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 227 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 94 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 98 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 107 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 189 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputSource ( 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 122 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 148 of file correspondence_rejection_surface_normal.h.

template<typename PointT >

void pcl::registration::CorrespondenceRejectorSurfaceNormal::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 166 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]