#include <correspondence_rejection.h>

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

Public Member Functions
	DataContainer (bool needs_normals=false)
	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.
NormalsConstPtr	getInputNormals ()
	Get the normals computed on the input point cloud.
PointCloudConstPtr const	getInputSource ()
	Get a pointer to the input point cloud dataset target.
PointCloudConstPtr const	getInputTarget ()
	Get a pointer to the input point cloud dataset target.
NormalsConstPtr	getTargetNormals ()
	Get the normals computed on the target point cloud.
	PCL_DEPRECATED (void setInputCloud(const PointCloudConstPtr &cloud),"[pcl::registration::DataContainer::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
	PCL_DEPRECATED (PointCloudConstPtr const getInputCloud(),"[pcl::registration::DataContainer::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
	Get a pointer to the input point cloud dataset target.
void	setInputNormals (const NormalsConstPtr &normals)
	Set the normals computed on the input point cloud.
void	setInputSource (const PointCloudConstPtr &cloud)
	Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
void	setInputTarget (const PointCloudConstPtr &target)
	Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
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.
void	setTargetNormals (const NormalsConstPtr &normals)
	Set the normals computed on the target point cloud.
virtual	~DataContainer ()
	Empty destructor.
Private Types
typedef pcl::search::KdTree < PointT >::Ptr	KdTreePtr
typedef pcl::PointCloud< NormalT >	Normals
typedef Normals::ConstPtr	NormalsConstPtr
typedef Normals::Ptr	NormalsPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Private Member Functions
const std::string &	getClassName () const
	Get a string representation of the name of this class.
Private Attributes
std::string	class_name_
	The name of the rejection method.
bool	force_no_recompute_
	A flag which, if set, means the tree operating on the target cloud will never be recomputed.
PointCloudConstPtr	input_
	The input point cloud dataset.
NormalsConstPtr	input_normals_
	Normals to the input point cloud.
NormalsPtr	input_normals_transformed_
	Normals to the input point cloud.
PointCloudPtr	input_transformed_
	The input transformed point cloud dataset.
bool	needs_normals_
	Should the current data container use normals?
PointCloudConstPtr	target_
	The target point cloud datase.
bool	target_cloud_updated_
	Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. This way, we avoid rebuilding the kd-tree.
NormalsConstPtr	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 167 of file correspondence_rejection.h.

Member Typedef Documentation

template<typename PointT, typename NormalT = pcl::PointNormal>

typedef pcl::search::KdTree<PointT>::Ptr pcl::registration::DataContainer< PointT, NormalT >::KdTreePtr [private]

Definition at line 173 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

typedef pcl::PointCloud<NormalT> pcl::registration::DataContainer< PointT, NormalT >::Normals [private]

Definition at line 175 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

typedef Normals::ConstPtr pcl::registration::DataContainer< PointT, NormalT >::NormalsConstPtr [private]

Definition at line 177 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

typedef Normals::Ptr pcl::registration::DataContainer< PointT, NormalT >::NormalsPtr [private]

Definition at line 176 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

typedef pcl::PointCloud<PointT> pcl::registration::DataContainer< PointT, NormalT >::PointCloud [private]

Definition at line 169 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

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

Definition at line 171 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

typedef PointCloud::Ptr pcl::registration::DataContainer< PointT, NormalT >::PointCloudPtr [private]

Definition at line 170 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 182 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

virtual pcl::registration::DataContainer< PointT, NormalT >::~DataContainer ( ) [inline, virtual]

Empty destructor.

Definition at line 198 of file correspondence_rejection.h.

Member Function Documentation

template<typename PointT, typename NormalT = pcl::PointNormal>

const std::string& pcl::registration::DataContainer< PointT, NormalT >::getClassName ( ) const [inline, private]

Get a string representation of the name of this class.

Definition at line 363 of file correspondence_rejection.h.

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:

[in] index index of the point in the input cloud

Implements pcl::registration::DataContainerInterface.

Definition at line 281 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:

[in] corr Correspondent points

Implements pcl::registration::DataContainerInterface.

Definition at line 299 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] corr Correspondent points

Definition at line 314 of file correspondence_rejection.h.

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 265 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 221 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 236 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 275 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

pcl::registration::DataContainer< PointT, NormalT >::PCL_DEPRECATED	(	void	setInputCloudconst PointCloudConstPtr &cloud,
		" setInputCloud is deprecated. Please use setInputSource instead."	[pcl::registration::DataContainer::setInputCloud]
	)

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

Parameters:

[in] cloud a cloud containing XYZ data

template<typename PointT, typename NormalT = pcl::PointNormal>

pcl::registration::DataContainer< PointT, NormalT >::PCL_DEPRECATED	(	PointCloudConstPtr const	getInputCloud(),
		" getInputCloud is deprecated. Please use getInputSource instead."	[pcl::registration::DataContainer::getInputCloud]
	)

Get a pointer to the input point cloud dataset target.

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] normals the normals computed for the input cloud

Definition at line 261 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] cloud a cloud containing XYZ data

Definition at line 214 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] target a cloud containing XYZ data

Definition at line 228 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]	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 246 of file correspondence_rejection.h.

template<typename PointT, typename NormalT = pcl::PointNormal>

void pcl::registration::DataContainer< PointT, NormalT >::setTargetNormals ( const NormalsConstPtr & normals ) [inline]